Abstract
This paper proposes a new interpolation approach for five-axis hybrid robots to enhance the surface quality and efficiency of machining processes. Hybrid robots have the potential to manufacture large, complex structural parts with high flexibility and a favorable load-to-weight ratio. To interpolate G01 commands, the proposed method implements finite impulse response (FIR) filters rather than splines. These filters smoothly synchronize the motions of tool center points (TCPs) and tool orientation vectors (TOVs), and are designed for each linear segment online with geometric programming while considering joint constraints. Additionally, the adjacent linear segments are locally blended with bounded geometric errors under kinematic constraints. The proposed method generates time-optimal trajectories with jerk-limited joint motions in real-time, making it more effective than current interpolation methods. The effectiveness of the proposed method is verified through the flank milling operation on aluminum alloy.
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