Modern high speed machining (HSM) machine tools often operates at high speed and high feedrate with high ac- celerations,in order to deliver the rapid feed motion.This paper presents an interpolation algorithm to gene...Modern high speed machining (HSM) machine tools often operates at high speed and high feedrate with high ac- celerations,in order to deliver the rapid feed motion.This paper presents an interpolation algorithm to generate continuous quintic spline toolpaths,with a constant travel increment at each step,while the smoother accelerations and jerks of two-order curve are obtained.Then an approach for reducing the feedrate fluctuation in high speed spline interpolation is presented.The presented ap- proach has been validated to quickly,reliably and effective with the simulation.展开更多
In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cub...In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.展开更多
A numerical algorithm is developed for the approximation of the solution to certain boundary value problems involving the third-order ordinary differential equation associated with draining and coating flows. The auth...A numerical algorithm is developed for the approximation of the solution to certain boundary value problems involving the third-order ordinary differential equation associated with draining and coating flows. The authors show that the approximate so- lutions obtained by the numerical algorithm developed by using uonpolynomial quintic spline functions ave better than those produced by other spline and domain decomposition methods. The algorithm is tested on two problems associated with draining and coating flows to demonstrate the practical usefulness of the approach.展开更多
A perturbation method is introduced in the context of dynamical system for solving the nonlinear Korteweg-de Vries (KdV) equation. Best efficiency is obtained for few perturbative corrections. It is shown that, the qu...A perturbation method is introduced in the context of dynamical system for solving the nonlinear Korteweg-de Vries (KdV) equation. Best efficiency is obtained for few perturbative corrections. It is shown that, the question of convergence of this approach is completely guaranteed here, because a limited number of term included in the series can describe a sufficient exact solution. Comparisons with the solutions of the quintic spline, and finite difference are presented.展开更多
For a prescribed set of lacunary data{(x_(ν),f_(ν),f^(″)_(ν)):ν=0,1,...,N}with equally spaced knot sequence in the unit interval,we show the existence of a fam-ily of fractal splines S^(α)_(b)∈C 3[0,1]satisfyin...For a prescribed set of lacunary data{(x_(ν),f_(ν),f^(″)_(ν)):ν=0,1,...,N}with equally spaced knot sequence in the unit interval,we show the existence of a fam-ily of fractal splines S^(α)_(b)∈C 3[0,1]satisfying S^(α)_(b)(x_(ν))=f_(ν),(S^(α)_(b))^(2)(x_(ν))=f^(″)_(ν)forν=0,1,...,N and suitable boundary conditions.To this end,the unique quintic spline introduced by A.Meir and A.Sharma[SIAM J.Numer.Anal.10(3)1973,pp.433-442]is generalized by using fractal functions with variable scaling pa-rameters.The presence of scaling parameters that add extra“degrees of freedom”,self-referentiality of the interpolant,and“fractality”of the third derivative of the in-terpolant are additional features in the fractal version,which may be advantageous in applications.If the lacunary data is generated from a functionΦsatisfying certain smoothness condition,then for suitable choices of scaling factors,the corresponding fractal spline S^(α)_(b)satisfies||Φ^(r)−(S^(α)_(b))(r)||∞→0 for 0≤r≤3,as the number of partition points increases.展开更多
A numerical treatment for self-adjoint singularly perturbed second-order two-point boundary value problems using trigonometric quintic B-splines is presented,which depend on different engineering applications.The meth...A numerical treatment for self-adjoint singularly perturbed second-order two-point boundary value problems using trigonometric quintic B-splines is presented,which depend on different engineering applications.The method is found to have a truncation error of O(h 6)and converges to the exact solution at O(h 4).The numerical examples show that our method is very effective and the maximum absolute error is acceptable.展开更多
文摘Modern high speed machining (HSM) machine tools often operates at high speed and high feedrate with high ac- celerations,in order to deliver the rapid feed motion.This paper presents an interpolation algorithm to generate continuous quintic spline toolpaths,with a constant travel increment at each step,while the smoother accelerations and jerks of two-order curve are obtained.Then an approach for reducing the feedrate fluctuation in high speed spline interpolation is presented.The presented ap- proach has been validated to quickly,reliably and effective with the simulation.
文摘In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.
文摘A numerical algorithm is developed for the approximation of the solution to certain boundary value problems involving the third-order ordinary differential equation associated with draining and coating flows. The authors show that the approximate so- lutions obtained by the numerical algorithm developed by using uonpolynomial quintic spline functions ave better than those produced by other spline and domain decomposition methods. The algorithm is tested on two problems associated with draining and coating flows to demonstrate the practical usefulness of the approach.
基金Project (No. D0701/01/05) supported by Ministry of the Educationand Scientific Research (M.E.S.R), Algeria
文摘A perturbation method is introduced in the context of dynamical system for solving the nonlinear Korteweg-de Vries (KdV) equation. Best efficiency is obtained for few perturbative corrections. It is shown that, the question of convergence of this approach is completely guaranteed here, because a limited number of term included in the series can describe a sufficient exact solution. Comparisons with the solutions of the quintic spline, and finite difference are presented.
文摘For a prescribed set of lacunary data{(x_(ν),f_(ν),f^(″)_(ν)):ν=0,1,...,N}with equally spaced knot sequence in the unit interval,we show the existence of a fam-ily of fractal splines S^(α)_(b)∈C 3[0,1]satisfying S^(α)_(b)(x_(ν))=f_(ν),(S^(α)_(b))^(2)(x_(ν))=f^(″)_(ν)forν=0,1,...,N and suitable boundary conditions.To this end,the unique quintic spline introduced by A.Meir and A.Sharma[SIAM J.Numer.Anal.10(3)1973,pp.433-442]is generalized by using fractal functions with variable scaling pa-rameters.The presence of scaling parameters that add extra“degrees of freedom”,self-referentiality of the interpolant,and“fractality”of the third derivative of the in-terpolant are additional features in the fractal version,which may be advantageous in applications.If the lacunary data is generated from a functionΦsatisfying certain smoothness condition,then for suitable choices of scaling factors,the corresponding fractal spline S^(α)_(b)satisfies||Φ^(r)−(S^(α)_(b))(r)||∞→0 for 0≤r≤3,as the number of partition points increases.
文摘A numerical treatment for self-adjoint singularly perturbed second-order two-point boundary value problems using trigonometric quintic B-splines is presented,which depend on different engineering applications.The method is found to have a truncation error of O(h 6)and converges to the exact solution at O(h 4).The numerical examples show that our method is very effective and the maximum absolute error is acceptable.
