Practical feedrate optimization for planar high precision contouring

摘要

The feedrate planning problem of robotics and computer numerical control (CNC) systems is discussed in this paper for realizing planar high precision contouring in minimum time. Besides of the usually considered velocity, acceleration and jerk constraints, a contour error estimation function is also introduced to drive the feedrate planning problem. By directly confining the estimated contour error curve of the feedrate trajectory, high precision contouring is obtained in real machining. The novelty of the proposed method is that a computationally efficient convex optimization approach is proposed to solve this complex nonlinear dynamic optimization problem. Several numerical experiments are implemented to demonstrate the practicability and effectiveness of the proposed approach.