Minimum time trajectory optimization of CNC machining with tracking error constraints

DOI10.1155/2014/835098MaRDI QIDQ1725091zbMATH OpenOpenAlexWikidataFDO

Authors Qiang Zhang, Shurong Li, Jianxin Guo

Publication date 14 February 2019

Published in Abstract and Applied Analysis (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2014/835098

zbMATH Keywords

bang-bang constraints structureCNC machiningminimum time trajectory optimization

Mathematics Subject Classification ID

Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Applications of optimal control and differential games (49N90) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems involving computers (process control, etc.) (93C83)

Review text

Summary: An off-line optimization approach of high precision minimum time feedrate for CNC machining is proposed. Besides the ordinary considered velocity, acceleration, and jerk constraints, dynamic performance constraint of each servo drive is also considered in this optimization problem to improve the tracking precision along the optimized feedrate trajectory. Tracking error is applied to indicate the servo dynamic performance of each axis. By using variable substitution, the tracking error constrained minimum time trajectory planning problem is formulated as a nonlinear path constrained optimal control problem. Bang-bang constraints structure of the optimal trajectory is proved in this paper; then a novel constraint handling method is proposed to realize a convex optimization based solution of the nonlinear constrained optimal control problem. A simple ellipse feedrate planning test is presented to demonstrate the effectiveness of the approach. Then the practicability and robustness of the trajectory generated by the proposed approach are demonstrated by a butterfly contour machining example.

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Cites work

• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• Robust adaptive force/motion control of constrained robots
• Time-optimal interpolation for CNC machining along curved tool pathes with confined chord error
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• Tracking error reduction in CNC machining by reshaping the kinematic trajectory

Cited in

(7)

• Time optimal feedrate generation with confined tracking error based on linear programming
• A Newton-CG augmented Lagrangian approach for efficient computation of time optimal trajectory
• A time-optimal control algorithm for path traversal problems of CNC systems
• A constrained linear quadratic optimization algorithm toward jerk-decoupling cartridge design
• Optimal velocity planning for arc-line toolpaths in CNC machining
• Mathematics of Surfaces XI
• Tracking error reduction in CNC machining by reshaping the kinematic trajectory

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