Local Corner Smoothing with Kinematic and Real-time Constraints for Five-axis Linear Tool Path

In this paper, a local corner smoothing method with consideration of kinematic and real-time constraints (LCS-KRC) is proposed to generate smooth motion trajectory in the vicinity of corners of five-axis linear tool path. Instead of inserting a spline curve at adjacent linear segments, the method directly blends velocities and accelerations of five motion axes and generates C
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cornering trajectories while respecting corner position tolerance and kinematic limits of the drives. The axial and tangential jerk in cornering transition are simultaneously evaluated to avoid excitation of structure vibration. To achieve local corner smoothing, corner feedrate is moderately adjusted and rotary-axis speeds are synchronized with corner velocity profile, especially in reverse motion or at sharp corners. Finally, simulations and experiments results demonstrate effectiveness of the proposed method compared with a commercial controller.