Machine Tool Trajectory Planning With Waypoint State Optimization
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Solution Overview
Problem
Existing machine tool motion planning techniques struggle to optimize cycle time for multi-segment trajectories while ensuring collision-free paths and adhering to geometric and kinematic constraints.
Innovation Solution
A method for determining a time-optimal trajectory for multi-segment tool path motion by optimizing motion states at intermediate waypoints, allowing for the addition of extra waypoints for collision avoidance, and using heuristic and gradient descent techniques for computation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If traditional trajectory computation techniques are used, then the tool path can be computed, but the total cycle time for multi-segment trajectories cannot be optimized
Solution Approach 1:
The trajectory is divided into multiple segments (air cut segments and cutting segments) with intermediate waypoints. Each segment is computed separately with its own motion profile, allowing optimization of the overall multi-segment trajectory while managing computational complexity through structured decomposition.
Solution Approach 2:
The motion states at intermediate waypoints (velocities and accelerations) are optimized dynamically to provide the shortest total trajectory time. The system transitions from static waypoint definitions to dynamic optimization of waypoint states, enabling time-optimal computation across multi-segment trajectories.
2Reliability
If collision avoidance is implemented in real-time, then collision-free operation is ensured, but cycle time optimization is compromised
Solution Approach 1:
Multiple tool path trajectories are computed in advance, and collision avoidance determinations are performed before execution. The system selects one of the predefined trajectories based on obstacle environment, ensuring both collision-free operation and cycle time optimization without real-time intervention.
Solution Approach 2:
An imaging system detects potential collisions in real time and provides information to adjust the trajectory accordingly. This intermediary detection system allows the primary trajectory computation to remain optimized while providing safety verification and corrective adjustments when necessary.
3Manufacturing precision
If machine limits and feed speed constraints are enforced, then machining accuracy is maintained, but the fastest possible cycle time cannot be achieved
Solution Approach 1:
The system computes velocity profiles that dynamically adjust parameters (velocities and accelerations) at intermediate waypoints to satisfy mechanical limits and feed speed constraints while minimizing total cycle time. Motion states are optimized within the bounds of manufacturing precision requirements.
4Reliability
If extra waypoints are added for collision avoidance, then trajectory safety is improved, but computation complexity increases
Solution Approach 1:
Adding extra waypoints divides the trajectory into additional segments, which structures the computation into manageable pieces. Each segment with its own motion profile can be computed and optimized independently, making the overall complex trajectory computation tractable.
Data Source
AI summary
A method for machine tool motion control which determines a time-optimal trajectory for a multi-segment tool path motion. Start and end waypoints for each segment of the overall motion are defined, along with other conditions such as cutting feed speed. An initial motion profile for each segment is computed based on the waypoint geometry and other constraints, and motion states at the waypoints which join the segments are optimized to provide the shortest total trajectory time. The optimized waypoint states include velocities and accelerations with non-zero values. An extra waypoint may be added to the trajectory, such as for collision avoidance, and the waypoint states are again optimized for minimum total time of the complete trajectory. Heuristic and gradient descent techniques are applied for computation of the optimum waypoint state values.