A novel acc-jerk-limited NURBS interpolation enhanced with an optimized S-shaped quintic feedrate scheduling scheme

Abstract

This paper presents a new adaptive acc-jerk-limited nonuniform rational B-spline (NURBS) interpolation method based on an optimized S-shaped C2 quintic feedrate planning scheme. At first, the modified quintic feedrate profile for each sharp corner during the acceleration/deceleration (acc/dec) stage is constructed. To this end, two feedrate slope correction coefficients (FSCC) are introduced for zero end point acceleration and jerk conception in acc/dec stage of each sharp corner. Also, a new algorithm is recommended to compute the acc/dec stage traverse time with respect to the deceleration starting time in this paper. Then, the modified quintic feedrate scheduling scheme equipped with the FSCC is improved for the tool path containing several sharp corners. The FSCC and the deceleration starting times corresponding to all sharp corners are evaluated using an optimization method such that the total machining time to be minimized. In this paper, the pattern search algorithm equipped with the nonlinear constraint function including the acceleration and jerk limitations Matlab code is used for obtaining the optimized parameters to accomplish the acc-jerk-limited feedrate scheduling scheme along the tool path. The proposed interpolation method is performed for several case studies and compared with the previously published methods to evaluate the effectiveness of the designed adaptive acc-jerk-limited feedrate scheduling scheme. The simulation results demonstrate that the proposed interpolation algorithm is capable for providing a smooth feedrate transition for all stages of motion along the tool path and yields satisfactory performances such as total machining time and the interpolation steps.