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Smooth trajectory planning for planar cutting system
Rodič, Miran ...
Trajectory planning algorithms that are used in the 2DOF non-rigid laser cutting system are described in our paper. As the mechanism used in the application is not rigid, some restrictions are given ...for its operation, especially regarding trajectory planning. Thus changes of speed are an important issue. To preserve the smoothness of motion, an algorithm using ▫$sin^2$▫ acceleration profile was used. It had to be modified in order to avoid resonance frequencies and ensure timely decelerations in order to stop the machine without braking. Paper also describes the use of circular splines for the smoothing of sharp corners between following programmed trajectories.
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