Abstract
This paper presents a novel trajectory generation method to exceed limitations of 5-axis machine tools. 3 key deficiencies are addressed. Synchronous and accurate interpolation of tool's translational (TCP) and rotational (ORI) motion is achieved by Finite Impulse Response (FIR) filtering of velocity commands in cartesian and spherical coordinates. The long-lasting feedrate optimization problem is solved analytically to plan rapid feed motion within kinematic limits of drives. A tool-path modification strategy is developed to interpolate around kinematic singularity within part tolerances and while minimizing rapid traverse of rotary axes. Simultaneous 5-axis contouring experiments confirm significant cycle time and accuracy improvement.
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