TRAJECTORY GENERATION FOR DUAL-DRIVE SERVO SYSTEMS FOR LASER PROCESSING WITH LOCAL CORNER SMOOTHING

抄録

Dual servo systems are widely used as ultra-high-speed and accurate positioning mechanisms for large work-space precision positioning applications such as in ultra-high-speed laser machining (cutting). Dual servo systems consist of serial combination of coarse and fine servo drives yielding a redundant servo system. The coarse drive carries the fine drive and provides large-stroke positioning whereas fine drive undertakes ultra-high-speed small-stroke positioning of the laser system. This paper proposes a novel smooth trajectory generation algorithm for such redundant dual-drive servo systems. The proposed algorithm presents a novel interpolation approach, which continuously interpolates linear laser cutting paths while blending them smoothly to realize a non-stop continuous motion. The interpolation error is controlled within user-set limits to realize accurate laser positioning. Distributed synchronous motion commands for coarse and fine axes are generated to operate them strictly within their stroke limits. Furthermore, the proposed approach is based on convolution (filtering) which allows real-time implementation of the command generation approach. Simulation results show that the proposed algorithm can generate the synchronous motion trajectories for the dual-drive system with analytically control corner errors and within kinematic limits.