Real-Time Jerk Limited Feedrate Profiling and Interpolation for Linear Motor Multiaxis Machines Using NURBS Toolpaths
Krystian Erwiński, A. Wawrzak, Marcin Paprocki
Abstract
In this article, a NURBS toolpath feedrate profile generation algorithm for a biaxial linear motor control system is presented. High achievable velocities and accelerations of linear motor machines present new computational challenges in implementing feedrate generation and toolpath interpolation algorithms in real-time controllers. The proposed algorithm is capable of online generation of the feedrate profile with axial acceleration and jerk constraints. Each stage of the feedrate profiling algorithm is described with attention being given to both performance and implementation aspects. Furthermore, an alternative to the commonly used Taylor series interpolation method is also tested to ensure minimal interpolation errors. The feedrate profiling and interpolation algorithms’ implementation in a PC-based controller with real-time Linux kernel is described. Experimental results are presented that confirm that the algorithm is capable of limiting acceleration and jerk in the machine’s axes and it is low computation time enables real-time on-line operation in a PC-based CNC controller.