TY - JOUR

T1 - Interpolation of a Clothoid Curve Based on Iterative True-Value Prediction Considering the Discretization Error

AU - Takeuchi, Issei

AU - Katsura, Seiichiro

N1 - Funding Information:
Manuscript received July 20, 2017; revised October 12, 2017 and December 8, 2017; accepted January 7, 2018. Date of publication January 25, 2018; date of current version November 1, 2018. This work was supported in part by the JSPS KAKENHI. Paper no. TII-17-1605. (Corresponding author: Seiichiro Katsura.) I. Takeuchi is with the Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan, and also with the Technology Development Division, Tokyo Automatic Machinery Works, Ltd., Tokyo 101-0032, Japan (e-mail: takeuchi@katsura.sd.keio.ac.jp).
Publisher Copyright:
© 2017 IEEE.

PY - 2018/11

Y1 - 2018/11

N2 - Computerized numerical control (CNC) systems are widely used in the processing field. The key technology of these systems is the interpolation that connects the desired points. The interpolation using a clothoid curve is one of the effective methods for connecting the points because of its outstanding smoothness properties. A clothoid curve is a spatial function. Hence, synthesization with a time function is necessary to apply the curve for the actual CNC equipment. The clothoid curve can be easily synthesized with a time function by designing the tangential velocity as the time function. However, a numerical calculation is necessary because the clothoid curve has a limitation in that it does not have an analytical expression. Therefore, the discretization error of the numerical calculation must be considered because the calculating resolution of the clothoid curve is determined by the tangential velocity and the sampling time. This study proposes a clothoid interpolation based on an iterative true-value prediction. This method can immediately estimate the true value of a clothoid curve by pinching integration and Aitken acceleration even in the case where the calculation resolution is limited. Hence, the method can suppress the discretization error of the clothoid curve. A smooth interpolation for the CNC machines can be achieved using the proposed method.

AB - Computerized numerical control (CNC) systems are widely used in the processing field. The key technology of these systems is the interpolation that connects the desired points. The interpolation using a clothoid curve is one of the effective methods for connecting the points because of its outstanding smoothness properties. A clothoid curve is a spatial function. Hence, synthesization with a time function is necessary to apply the curve for the actual CNC equipment. The clothoid curve can be easily synthesized with a time function by designing the tangential velocity as the time function. However, a numerical calculation is necessary because the clothoid curve has a limitation in that it does not have an analytical expression. Therefore, the discretization error of the numerical calculation must be considered because the calculating resolution of the clothoid curve is determined by the tangential velocity and the sampling time. This study proposes a clothoid interpolation based on an iterative true-value prediction. This method can immediately estimate the true value of a clothoid curve by pinching integration and Aitken acceleration even in the case where the calculation resolution is limited. Hence, the method can suppress the discretization error of the clothoid curve. A smooth interpolation for the CNC machines can be achieved using the proposed method.

KW - Computerized numerical control (CNC)

KW - clothoid interpolation

KW - motion control

KW - position control

KW - trajectory planning

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U2 - 10.1109/TII.2018.2797925

DO - 10.1109/TII.2018.2797925

M3 - Article

AN - SCOPUS:85041011003

SN - 1551-3203

VL - 14

SP - 5156

EP - 5166

JO - IEEE Transactions on Industrial Informatics

JF - IEEE Transactions on Industrial Informatics

IS - 11

M1 - 8269384

ER -