Time and Energy Optimal Trajectory Generation in Feed Drive Systems Using Kinematic Corner Smoothing with Interrupted Acceleration

摘要

This paper proposes a method of systematically generating corner smoothed trajectories for feed drive systems that offer the best trade-off between two contradicting objectives, namely, cycle time and energy consumption. An energy model for feed drive systems is used to define the bi-objective optimization problem. A geometry is subdivided into linear and corner segments, where the linear segments are defined by jerk limited acceleration profiles and the corner segments are defined using a kinematic corner smoothing technique with interrupted acceleration. By a normalized normal constraint method and a divide and conquer algorithm, Pareto fronts are generated and the best trade-off trajectory is obtained as the Pareto optimal point that minimizes both objectives. Simulation results for an industrial bi-axial machine are shown.