Discrete Jerk-Limited Feedrate Planning for NURBS Curves Interpolation
In this paper, the jerk-limited feedrate planning is used to adaptively change feedrate with consideration of machine dynamics in the sensitive corners. The curvature is introduced to detect sensitive corner by the look-ahead module to avoid the situation that the curvature is zero. The parameters of every deceleration stages are solved with a series of formula first, and then the feedrate profile is discretized with consideration of the deceleration time, which must be an integer multiple of the interpolation sample time. In addition, the deceleration start point estimation method is described in detail, and a number of deceleration terminal speeds are added into the discrete feedrate profile to drive the machine tool to the right position.
Zhengyi Jiang, Shanqing Li, Jianmin Zeng, Xiaoping Liao and Daoguo Yang
J. X. Chen and S. W. Lin, "Discrete Jerk-Limited Feedrate Planning for NURBS Curves Interpolation", Advanced Materials Research, Vols. 189-193, pp. 2191-2195, 2011