Performance evaluation of software acceleration/deceleration algorithms in machining and contouring

The authors propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots of CNC (computerized numerical control) machine tools start and stop. The path error is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in the case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor as a central processing unit (CPU). The experimental results demonstrate that the proposed algorithms are very effective in controlling the axes of motion of industrial robots or CNC machine tools with the desired characteristics