Feedrate planning for machining with industrial six-axis robots

The authors want to thank Stäubli for providing the necessary information of the controller, Dynalog for its contribution to the experimental validations and X. Helle for its material contributions.Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by machine-tools. This paper presents a method of trajectory planning adapted for continuous machining by robot. The methodology used is based on a parametric interpolation of the geometry in the operational space. FIR filters properties are exploited to generate the tool feedrate with limited jerk. This planning method is validated experimentally on an industrial robot

Computer numerical control vertical machining centre feed drive modelling using the transmission line technique

This study presents a novel application of the Transmission Line Matrix Method (TLM) for the modelling of the dynamic behaviour of non-linear hybrid systems for CNC machine tool drives. The application of the TLM technique implies the dividing of the ball-screw shaft into a number of identical elements in order to achieve the synchronisation of events in the simulation, and to provide an acceptable resolution according to the maximum frequency of interest. This entails the use of a high performance computing system with due consideration to the small time steps being applied in the simulation. Generally, the analysis of torsion and axial dynamic effects on a shaft implies the development of independent simulated models. This study presents a new procedure for the modelling of a ball-screw shaft by the synchronisation of the axial and torsion dynamics into the same model. The model parameters were obtained with equipments such as laser interferometer, ball bar, electronic levels, signal acquisition systems etc. The MTLM models for single and two-axis configurations have been simulated and matches well with the measured responses of machines. The new modelling approach designated the Modified Transmission Line Method (MTLM) extends the TLM approach retaining all its inherent qualities but gives improved convergence and processing speeds. Further work since, not the subject of this paper, have identified its potential for real time application

Sampled data systems and generating functions

Application of Z-transforms to sampled-data system

Fractionally-addressed delay lines

While traditional implementations of variable-length digital delay lines are based on a circular buffer accessed by two pointers, we propose an implementation where a single fractional pointer is used both for read and write operations. On modern general-purpose architectures, the proposed method is nearly as efficient as the popularinterpolated circular buffer, and it behaves well for delay-length modulations commonly found in digital audio effects. The physical interpretation of the new implementation shows that it is suitable for simulating tension or density modulations in wave-propagating media.Comment: 11 pages, 19 figures, to be published in IEEE Transactions on Speech and Audio Processing Corrected ACM-clas

Adaptive interference suppression for DS-CDMA systems based on interpolated FIR filters with adaptive interpolators in multipath channels

In this work we propose an adaptive linear receiver structure based on interpolated finite impulse response (FIR) filters with adaptive interpolators for direct sequence code division multiple access (DS-CDMA) systems in multipath channels. The interpolated minimum mean-squared error (MMSE) and the interpolated constrained minimum variance (CMV) solutions are described for a novel scheme where the interpolator is rendered time-varying in order to mitigate multiple access interference (MAI) and multiple-path propagation effects. Based upon the interpolated MMSE and CMV solutions we present computationally efficient stochastic gradient (SG) and exponentially weighted recursive least squares type (RLS) algorithms for both receiver and interpolator filters in the supervised and blind modes of operation. A convergence analysis of the algorithms and a discussion of the convergence properties of the method are carried out for both modes of operation. Simulation experiments for a downlink scenario show that the proposed structures achieve a superior BER convergence and steady-state performance to previously reported reduced-rank receivers at lower complexity