Advanced interpolation technologies for complete profile motion control-theory and implementation

This dissertation presents a comparative study of linear and parametric speed interpolators used for command generation in machine tool applications. The comparison is mainly based on memory size, feedrate fluctuation and CPU time. Other considerations include tracking errors and jerk magnitude. Results show that the parametric speed interpolator is favorable in the machining of free-form geometry in terms of high speed and tight tolerance.; We will introduce a parametric convolution interpolator in which consists of an acceleration/deceleration processor. This interpolator applies digital convolution filtering technique to parametric u distance; it can be applied to suppress the approximation error and offers straightforward implementation.; Complete motion profile for NURBS curves is difficult to be planned because analytic solution of exact arc length does not exist. This dissertation proposes a hybrid parametric interpolation method, which takes advantage of the fact that exact parametric arc dimension is naturally available in the parametric domain. This hybrid parametric interpolator is a combination of both parametric speed interpolator and parametric convolution interpolator. And it can precisely control and enable the motion to stop smoothly and exactly at end position for tracking any parametric curves.; Our great accomplishment after years of intensive research and hard work is the complete CNC machine system implementation. Our achievement is special and tremendous in the sense that our work involves all aspects of Mechatronic design. In the UCLA machine system, we have adopted PC-based CNC design which comprises a single board computer and a custom built UCLA motion board. We have incorporated the latest FPGA technology on the motion board so as to offer an economical solution for logic customization.; The UCLA machine controller is designed using 100% GNU open source software. Thus, our machine controller design provides an academic platform to researchers for integration into their own system applications. The software design is infrastructure independent and portable and the core of software can be ported into different platforms. To simplify the process of operation, we have introduced an efficient machine command language, known as UCLA machine command language, to directly translate the geometry of a product into G Code format.