Abstract
The basic algorithms of trajectory smoothing in control systems of machine tools and industrial robots in the case of linear-piece trajectory assignment are considered. The method of local contour smoothing by cubic B-spline in three-axis interpolation, which together with the algorithm of quasi-optimal feed planning with jerk limiting allowed to signifi cantly increase the machining productivity, is discussed in detail. The insertion of splines takes into account userdefi ned geometric constraints and converts the original trajectory into a composite curve that has geometric continuity G2, providing continuity of accelerations for each link of the machine. The defi nition of geometric continuity G1 and G2 is discussed, and its effect on the quality of the machined surface.
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