Cascaded FIR and half-sine filter-based smooth trajectory generation algorithm

Abstract

This paper presents a new trajectory generation algorithm that consists of a cascaded Finite Impulse Response (FIR) and a half-sine filter. FIR filter is used to set the acceleration, and the half-sine wave generates continuous velocity-acceleration and jerk motions along the tool path while avoiding the excitation of the machine vibrations. The algorithm allows for control of cornering errors between the discontinuous path segments. The algorithm is experimentally validated to damp the vibrations of a cantilevered beam, a mode of an industrial machine’s ball screw drive, and a tool path with sharp curvatures on a two-axis machine.