Smooth Feedrate Planning and Trajectory Generation for Five-axis Tool Path

This paper presents a real-time feedrate planning method with time synchronization and local corner smoothing algorithms to achieve high-quality five-axis machining. Linear and angular trajectories are planned by sharing motion time rather than curve parameter to realize synchronous motion for five-axis tool path. The maximum feedrate of linear segment is evaluated by five-axis feedrate regulation formulation (FFRF) respecting tangential and axial kinematic constraints. The local corner smoothing method is used to generate smooth motion at thejunctions of adjacent blocks. It directly blends velocities and accelerations of five motion axes and generates C2 cornering trajectory with consideration of corner tolerance and kinematic limits of the drives. The proposed method can provide two-step analytical solution for feedrate scheduling problem in real-time and its efficiency is validated in five-axis cutting experiments.