A study on a generalized parametric interpolator with real-time jerk-limited acceleration
The impossibility of exact arc length computation for standard parametric curves such as Bzier/B-spline curves makes it difficult to generate a feedrate profile with desired accelerations in real-time. This paper presents a new recursive trajectory generation method that estimates an admissible path increment and determines the initiation of the final deceleration stage according to the distance left to travel estimated at every sampling time, resulting in exact feedrate trajectory generation through jerk-limited acceleration profiles for the parametric curves. The proposed approach allows the feedrate profile to be dynamically adjusted according to geometrical path constraints for the curved path. The simulation result has been also provided to illustrate the generation of smooth feedrate profile encompassing a sequence of mixed NC blocks including traditional linear and circular blocks.
parametric interpolator jerk-limited acceleration feedrate profile