Development of a real-time trajectory generator for NURBS interpolation based on the two-stage interpolation method

Abstract

This paper deals with the real-time NURBS interpolation method in which the interpolation error between the ideal curve and the interpolated curve is compensated within the machine basic length unit (BLU). Parametric curve interpolation methods are based on the Taylor series expansion of curve parameters and an approximation. This approach enables effective feed command generation following the target curve. However, the interpolation error caused by the curve segmentation cannot be controlled.