Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems
Manufacturing industries aim to improve product quantity and quality. These trade-off objectives are typically manifested as cycle time reduction and motion accuracy improvement. Corner smoothing approaches that reduce the cycle time of piecewise linear trajectories are proposed in the literature. T...
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doaj-b2e6675b4c794e70989ec91ac0a78dea2021-08-23T23:00:34ZengIEEEIEEE Access2169-35362021-01-01911410411411910.1109/ACCESS.2021.31049359514504Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive SystemsEnock William Nshama0https://orcid.org/0000-0003-1166-4745Naoki Uchiyama1Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, JapanDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, JapanManufacturing industries aim to improve product quantity and quality. These trade-off objectives are typically manifested as cycle time reduction and motion accuracy improvement. Corner smoothing approaches that reduce the cycle time of piecewise linear trajectories are proposed in the literature. This study tackles the two objectives by Pareto-optimal corner smoothing with constraints imposed as kinematic limits, continuity conditions and user-specified cornering tolerance. Linear and cornering motions along a contour are respectively described by jerk-limited acceleration profiles and a modified kinematic corner smoothing with interrupted acceleration (KCSIA) approach. A Pareto frontier is generated by the divide and conquer algorithm, where the solution nearest to the utopia point is selected as the best trade-off solution. The effectiveness of the proposed method is validated through experiments, where the best trade-off solution reduces the maximum and average contouring errors by 47.53% and 25.40% while it increases cycle time by 2.53% compared to KCSIA.https://ieeexplore.ieee.org/document/9514504/Trajectory generationmotion accuracycorner smoothingPareto optimizationindustrial feed drives systems |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Enock William Nshama Naoki Uchiyama |
spellingShingle |
Enock William Nshama Naoki Uchiyama Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems IEEE Access Trajectory generation motion accuracy corner smoothing Pareto optimization industrial feed drives systems |
author_facet |
Enock William Nshama Naoki Uchiyama |
author_sort |
Enock William Nshama |
title |
Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems |
title_short |
Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems |
title_full |
Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems |
title_fullStr |
Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems |
title_full_unstemmed |
Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems |
title_sort |
pareto optimization of cycle time and motion accuracy in trajectory planning for industrial feed drive systems |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2021-01-01 |
description |
Manufacturing industries aim to improve product quantity and quality. These trade-off objectives are typically manifested as cycle time reduction and motion accuracy improvement. Corner smoothing approaches that reduce the cycle time of piecewise linear trajectories are proposed in the literature. This study tackles the two objectives by Pareto-optimal corner smoothing with constraints imposed as kinematic limits, continuity conditions and user-specified cornering tolerance. Linear and cornering motions along a contour are respectively described by jerk-limited acceleration profiles and a modified kinematic corner smoothing with interrupted acceleration (KCSIA) approach. A Pareto frontier is generated by the divide and conquer algorithm, where the solution nearest to the utopia point is selected as the best trade-off solution. The effectiveness of the proposed method is validated through experiments, where the best trade-off solution reduces the maximum and average contouring errors by 47.53% and 25.40% while it increases cycle time by 2.53% compared to KCSIA. |
topic |
Trajectory generation motion accuracy corner smoothing Pareto optimization industrial feed drives systems |
url |
https://ieeexplore.ieee.org/document/9514504/ |
work_keys_str_mv |
AT enockwilliamnshama paretooptimizationofcycletimeandmotionaccuracyintrajectoryplanningforindustrialfeeddrivesystems AT naokiuchiyama paretooptimizationofcycletimeandmotionaccuracyintrajectoryplanningforindustrialfeeddrivesystems |
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1721198087255359488 |