C2 continuous time dependent feedrate scheduling with configurable kinematic constraints
For CNC machining and robotics, this work provides a flexible feedrate scheduling method that balances motion speed and kinematic constraint satisfaction.
This paper presents a configurable trajectory planning strategy for planar paths that generates C2 continuous time-dependent feedrates, ensuring chord tolerance and bounds on velocity, acceleration, and jerk. The configurability allows for faster motions while still meeting constraints, and the method is applicable to any smooth planar path.
We present a configurable trajectory planning strategy on planar paths for offline definition of time-dependent C2 piecewise quintic feedrates. The more conservative formulation ensures chord tolerance, as well as prescribed bounds on velocity, acceleration and jerk Cartesian components. Since the less restrictive formulations of our strategy can usually still ensure all the desired bounds while simultaneously producing faster motions, the configurability feature is useful not only when reduced motion control is desired but also when full kinematic control has to be guaranteed. Our approach can be applied to any planar path with a piecewise sufficiently smooth parametric representation. When Pythagoreanhodograph spline curves are considered, the corresponding accurate and efficient CNC interpolator algorithms can be exploited.