Trajectory planning for CNC fabric cutting machines

Trajectory planning is a strategy which consists in finding a function or an approach that generate a curve to connects two or more coordinate points, a machine or a robot must go through these points in the working space in order to perform a specified task or reach a certain goal. In this thesis, we are going to introduce the main idea of trajectory planning and the various approaches used to generate a planner curve. Then, collaborating with Mitsubishi Electric company, we introduce a practical problem in the industry field, which consists of a fabric cutting machine that has to perform a cutting process of certain profiles, the coordinate points of the profiles are given. Accordingly, we are going to carry out a study that consists of; a) Analyzing the given points for each profile. b) Applying the main approaches used in trajectory planning, to generate the final curve which interpolates or approximates the given points. c) Performing a kinematic analysis of each type of curve obtained by every approach. d) Evaluating the dynamic model of the cutting machine and computing the inertial loads. e) Comparing the results obtained by each approach. At the end of the essay, a conclusion is obtained by summarizing all the study that has been done before. At this point, a recommendation can be carried out to point out the most adequate approach of motion planning that can deal with this practical problem.

Pianificazione della traiettoria per macchine CNC da taglio dei tessuti