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Enhancing Smoothness via Redundancy in 3D Laser Cutting Manufacturing: A Collision-Free, Minimized Jerk Trajectory Optimization Approach †

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Vydáno v:Machines vol. 13, no. 5 (2025), p. 339
Hlavní autor: Ding Zhipeng
Další autoři: Indri Marina, Rizzo, Alessandro
Vydáno:
MDPI AG
Témata:
Kinematics
Accuracy
Workpieces
B spline functions
Optimization
Quadratic programming
High speed machining
Robots
Cutting equipment
Service life
Collision avoidance
Manufacturing
Efficiency
Optimization models
Redundancy
Robotics
Laser beam cutting
Axes of rotation
Smoothness
Trajectory optimization
Lasers
Wrist
Redundant components
Industrial applications
Linear programming
Methods
Algorithms
Trajectory planning
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Abstrakt:In modern manufacturing, achieving high-speed laser cutting requires advanced robotic trajectory planning for smoothness and collision avoidance. Poorly optimized motion can cause frequent velocity changes, leading to mechanical vibrations that shorten machine service life. This study presents an innovative trajectory optimization approach for laser cutting machines equipped with a redundant standoff axis. A B-spline-based analytical model formulates rotational axes trajectories as quadratic programming problems to minimize jerk (the rate of acceleration change) under machining accuracy and kinematic constraints. Additionally, an M path, represented by the wrist center’s trajectory, refines translational axes by adjusting the standoff axis through a similar optimization model, thereby reducing mechanical stress. Collision avoidance is ensured through a concurrent iterative optimization process, considering the feasible domains of representative 3D geometric tool orientations. Simulation experiments on a complex B-pillar workpiece demonstrate the framework’s effectiveness, clearly indicating significant reductions in jerk and improved trajectory smoothness for both rotational and translational axes compared with conventional methods and a prior approach. This work advances high-speed machining capabilities by offering a novel, robust solution that leverages redundant structures to further improve trajectory smoothness and reliability in demanding industrial applications.
ISSN:2075-1702
DOI:10.3390/machines13050339
Zdroj:Engineering Database