0507149 20241106135740.120190801235959.9 85073012813 8 s. P cav_un_epca*0507148978-989-758-380-32184-2809229-236SetubalSCITEPRESS – Science and Technology Publications, Lda2019GusikhinOlegMadaniKuroshZaytoonJanan Path Model G-Code Path Smoothing Time Parametrization Bézier Curves Industrial Robotics cav_un_auth*0101064 Belda Květoslav UTIA-B Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2019/AS/belda-0507149.pdf The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bézier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length, time parametrization with respect to arc length, and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces. cav_un_auth*0377849 International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019) /16./ 20190729 20190731 Prague CZ JD 20000 20200 20206 2020 1 4 A sml 4as 20241106135740.1 PO RVO:67985556 http://hdl.handle.net/11104/0298561 S Copyright Transfer 20190514 2019 Soubory v repozitáři: belda-0507149-copyright.pdf 85073012813 SCOPUS PUBMED WOS cav_un_epca*0507148 Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019) SCITEPRESS – Science and Technology Publications, Lda 2019 Setubal 229 236 978-989-758-380-3 2184-2809 340 Gusikhin Oleg 340 Madani Kurosh 340 Zaytoon Janan