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Five-axis trajectory generation based on kinematic constraints and optimisation

机译：基于运动学约束和优化的五轴轨迹生成

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This paper proposed a five-axis trajectory generation method based on kinematic constraints and optimisation. The optimisation algorithms based on double solutions filtering and singularity determination are designed during inverse kinematics, which can choose the appropriate solution set within the movement ranges of rotary axes. Trajectory generation with kinematic constraints for each axis is significant in high speed machining, however, the component acceleration for each drive does not only depend on the value of tangential velocity (feed), but also on its changing rate. It is inefficient to deal with this problem by using general iterative methods. This paper proposes an approximate constraint method which keeps constant feed for each small segment by eliminating the effect from feed changing, and then connects the constant feed stages by trapezoidal acceleration transition. Simulation for a five-axis tool path in impeller machining is implemented. The results show that the solution profile which overruns the angle movement range is filtered, and both the velocity and acceleration on each axis are confined.
机译：提出了一种基于运动学约束和优化的五轴轨迹生成方法。在逆运动学中设计了基于双解滤波和奇异性确定的优化算法，可以在旋转轴的运动范围内选择合适的解集。在高速加工中，每个轴具有运动学约束的轨迹生成非常重要，但是，每个驱动器的部件加速度不仅取决于切向速度（进给）的值，还取决于其变化率。通过使用一般的迭代方法来解决此问题是低效率的。本文提出一种近似约束方法，通过消除进给变化的影响使每个小段保持恒定进给，然后通过梯形加速度过渡连接恒定进给级。在叶轮加工中对五轴刀具路径进行了仿真。结果表明，过滤了超出角度运动范围的解轮廓，并且限制了每个轴上的速度和加速度。

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