Jerk-Limited Oscillation-Free Feedrate Scheduling Under Non-Stationary Boundary Conditions

Abstract

Conference Title: 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

Conference Start Date: 2025 July 14

Conference End Date: 2025 July 18

Conference Location: Hangzhou, China

Feedrate scheduling has significant impacts on motion efficiency, equipment vibration, and machining quality in robotic manipulation and computer numerical control machining. As the most effective methods for jerk-limited feedrate scheduling, however, optimization-based approaches face challenges such as high computational cost, artificial infeasibility, and feedrate oscillations. This paper proposes a triple linear programming (TLP) method for solving the non-convex 3rd-order problem. To avoid artificial infeasibility caused by convexification, an incremental linearization method (ILM) is developed to generate a feasible solution under non-stationary boundary conditions. Feedrate profiles are further adjusted to eliminate the oscillations caused by the discretization. In experiments on machine tools and robotic manipulators, the proposed method saves more than 10% of motion time than existing linear programming methods and reduces computational time by more than 80% than baselines based on sequential quadratic programming with better time-optimality. Furthermore, the proposed method outperforms baselines regarding feasibility and feedrate oscillations.