A Master-axis-based Feedrate Scheduling with Jerk Constraints for Five-axis Tool Center Point Trajectory

In this paper, a feedrate scheduling algorithm based on master axis is proposed to generate smooth five-axis tool center point (TCP) trajectory. The method first plans corner feedrate while respecting jerk continuity of three linear axes at block corner. The axis with the maximum movement among TCP and rotary axes is selected to be a master, and the ratios among the movements of the master and other axes are obtained. Five-axis feedrate regulation formulation (FFRF) is utilized to evaluate the velocity of the master axis. Feedrate command on TCP is adjusted with the constraints of jerks and movements of TCP and rotary axes. S-shape acceleration/deceleration (ACC/DEC) method is used to achieve velocity smoothing and generate five-axis interpolation commands. Finally, the cutting experiments are performed to verify the efficiency of the proposed technology on a five-axis engraving machine.