Performance Evaluation of Offline Motion Preparation Approaches on the Example of a Non-Linear Kinematics
Performance Evaluation of Offline Motion Preparation Approaches on the Example of a Non-Linear Kinematics
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DOI：
10.3390/app10228014
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发表时间：
2020-11
期刊：
影响因子：
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通讯作者：
Olaf Holowenko;L. Drowatzky;S. Ihlenfeldt
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文献类型：
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作者：
Olaf Holowenko;L. Drowatzky;S. Ihlenfeldt
在运动控制中，非线性运动学的运动轮廓的生成通常是计算复杂的。为了最大限度地减少机器控制系统的工作量，所采取的方法是将复杂的计算任务外包给离线区域。在此离线运动准备中，必须考虑预定义的标准，以确保真实机器上的过程稳定性。在运动准备过程中，希望有较高的性能，其特点是生成的数据量较少，同时计算量较小。评估将使用动作规范的例子，与传统的动作规范相比，动作规范的特征是数据量大。因此，对性能的要求变得更高。本文考察了从文献中已知的不同动作准备方法的性能。一方面，对选取的基于样条基的算法进行了讨论和比较。在实例中，推荐使用基于单项式样条的递归算法。另一方面，提出了一种非常简单的基于机构非线性工作空间线性化的方法，并将其应用于算法。有了这一点，性能再次大幅提高。
In motion control, the generation of motion profiles for non-linear kinematics is usually computationally complex. In order to minimize the workload on the machine’s control system, the approach pursued is outsourcing complex calculation tasks to the offline area. In this offline motion preparation, predefined criteria have to be taken into account to guarantee process stability on the real machine. During the motion preparation, a high performance is desired, characterized by less data generated and at the same time little computing effort. The evaluation will use the example of a motion specification, which is characterized by a large amount of data compared to conventional motion specifications. Thus, the demands on performance become even higher. This paper examines the performance of different motion preparation approaches known from literature. On the one hand, selected spline-based algorithms are discussed and compared. A recursive algorithm based on monomial splines is recommended for use in the example. On the other hand, a very simple approach based on the linearization of the non-linear workspace of the mechanism is presented and applied on the algorithms. With this, the performance increased significantly again.