High speed blending motion trajectory planning using a predefined absolute accuracy

Motion trajectory commands are usually generated using CAD/CAM software and a specified motion controller. At the CAD/CAM stage, the motion commands are generated with respect to the constrains on the contouring error and the application. These commands are also related to the motion controller, which incorporates an advanced blending interpolation method in its function core. Although, high-speed motion can be achieved using blending interpolation, the accuracy of the trajectory is decreased. This study proposes a new blending method that uses a predefined absolute accuracy to optimize both the speed and the accuracy of the generated motion trajectory. The proposed method uses two strategies: the first accelerates or decelerates the velocity profile and the second inserts an arc trajectory command and the corresponding blending accuracy in a critical segment, in order to achieve the speed and the contouring error that is predefined by the user. Four cases are used to determine the performance of the proposed method: (a) line-to-line, (b) line-to-arc, (c) arc-to-arc, and (d) arc-to-line interpolations. The experiments use a predefined speed and accuracy for the motion trajectory. The results demonstrate that the proposed motion trajectory planning process satisfies the needs of industrial applications such as laser cutting and dispensing.