A greedy algorithm for feedrate planning of CNC machines along curved tool paths with confined jerk

In this paper, the problem of optimal feedrate planning along a curved tool path for 3-axis CNC machines with the acceleration and jerk limits for each axis and the tangential velocity bound is addressed. It is proved that the optimal feedrate planning must be "Bang-Bang" or "Bang-Bang-Singular" control, that is, at least one of the axes reaches its acceleration or jerk bound, or the tangential velocity reaches its bound throughout the motion. As a consequence, the optimal parametric velocity can be expressed as a piecewise analytic function of the curve parameter u. The explicit formula for the velocity function when a jerk reaches its bound is given by solving a second-order differential equation. Under a "greedy rule", an algorithm for optimal jerk confined feedrate planning is presented. Experiment results show that the new algorithm can be used to reduce the machining vibration and improve the machining quality. (C) 2012 Elsevier Ltd. All rights reserved.