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Time optimal feedrate generation with confined tracking error based on linear programming

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Abstract

In this paper, the problem of time optimal feedrate generation under confined feedrate, axis accelerations, and axis tracking errors is considered. The main contribution is to reduce the tracking error constraint to constraints about the axis velocities and accelerations, when the tracking error satisfies a second order linear ordinary differential equation. Based on this simplification on the tracking error, the original feedrate generation problem is reduced to a new form which can be efficiently solved with linear programming algorithms. Simulation results are used to validate the methods.

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Authors and Affiliations

  1. Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China

    Jianxin Guo, Xiao-Shan Gao & Hongbo Li

  2. College of Information and Control Engineering, China University of Petroleum (East China), Qingdao, 266580, China

    Qiang Zhang

Authors
  1. Jianxin Guo
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  2. Qiang Zhang
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  3. Xiao-Shan Gao
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  4. Hongbo Li
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Corresponding author

Correspondence to Jianxin Guo.

Additional information

This paper was partially supported by a National Key Basic Research Project of China under Grant No. 2011CB302400 and the Natural Science Foundation of China under Grant No. 60821002.

This paper was recommended for publication by Editor LI Ziming.

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Guo, J., Zhang, Q., Gao, XS. et al. Time optimal feedrate generation with confined tracking error based on linear programming. J Syst Sci Complex 28, 80–95 (2015). https://doi.org/10.1007/s11424-014-2281-z

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  • DOI: https://doi.org/10.1007/s11424-014-2281-z

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