A real-time dual NURBS interpolator with optimised control of flexible acceleration and deceleration for five-axis CNC machining

The limited computing capacity makes it difficult to plan a suitable feedrate profile in real-time for high speed and high accuracy machining of five-axis parametric toolpaths. In this paper, a real-time interpolation algorithm with optimised control of flexible acceleration and deceleration (acc-dec) for the dual NURBS toolpath is proposed. The toolpath is marked as subsegments with similar geometric properties by introducing the five-axis curvature. Machine kinematic and toolpath geometry constraints are considered in the kinematic parameter constraint model. Initial feedrate profiles are solved in a dynamic 3D window which preserves the motion performance of machine tools to a great extent. Convolution is used to smooth the initial feedrate profile to achieve a higher order continuity over the global range. Feedrate fluctuations caused by imprecise parameter interpolation are eliminated through modifying each interpolation periods. Resampling adjusts the position of interpolation points and unify the interpolation periods. All operations mentioned are in series and real-time is strictly guaranteed. Effectiveness of the developed algorithm is validated in simulations and also experimentally on a Self-developed-NC controlled 5-axis machine tool.