An Improved Approach for the Acceleration and Deceleration of Industrial Robots and CNC Machine Tools

Abstract

This paper proposes an improved coefficients stored approach to the acceleration and deceleration of industrial robots and CNC machine tools. According to the desired characteristics of acceleration and deceleration, each set of coefficients is calculated and is stored. Given a moving distance, using common divisor of the maximum acceleration and deceleration intervals, a velocity profile having the desired characteristics can be generated by using these coefficients. Compared with the selection of polynomial functions, the approach require a little of computations, and compared with digital convolution, it is more flexible. At last, unsymmetrical smooth velocity profile is generated by the simple coefficients stored technique and the improved coefficients stored technique. Results demonstrate that the improved technique can generate the more efficient velocity profile for the varied distance movement.