Abstract
This paper presents the algorithms to achieve local minimum-time trajectory planning for the motors of a five-axis milling machine with and without the tool tip deviation. The forward and inverse kinematics are first applied to obtain the kinematic relation between the planned path for the tool-workpiece system and the motion of the five motors. The path trajectory of the machine can be obtained by a CAM software a priori. With the constraints of the feed rate, velocity, acceleration and jerk of each motor, the trajectory planning algorithms are developed to obtain the local minimum-time trajectory for every interval in the tool path through the quintic polynomial with or without the tool tip deviation. The bisecting-plane (BP) algorithm is applied to obtain the minimum-time trajectory for each interval, and the potential field method is used to find the projection of tool tip deviation on the reference path. The proposed algorithms are verified through simulation study.
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