关键词: 关节跃度约束, 五轴刀具路径光顺, 有限冲激响应滤波器插值, 机器人加工 

Abstract: Aiming at the problems of joint jerk exceeding constraints in robot machining, a tool path smoothing algorithm was proposed considering joint jerk constraints. The FIR filter interpolation was used to smooth the five-axis tool paths. Path smoothing and speed planning were achieved in one step. The relationship of velocity, acceleration, and jerk between joint and tool was established, and the joint jerk did not exceed the constraint by adjusting the time constant. Time constant calculated by the proposed method was smaller than considering the acceleration constraints of robot joint. Simulation and experimental results show that the proposed algorithm may reduce the tracking error of the joint and improve the stability of the robot joint in machining.

Key words:  , joint jerk constraint, five-axis tool path smoothing, finite impulse response(FIR) filter interpolation, robot machining