High-speed corner trajectory planning for CNC machining with confined jerk

In CNC machining, tool paths consist predominantly of numerous linear motions (G01). However, the tangential discontinuities at the junctions of adjacent linear segments reduce machining efficiency and accuracy. Current methods eliminate discontinuities through corner smoothing, but cannot improve velocity consistently due to the incompatibility in acceleration and deceleration profiles between corners and adjacent linear segments. To address this challenge, we propose a novel method for real-time trajectory planning that facilitates consistent acceleration along G01 paths. Specifically, we implement a generalized jerk-limited acceleration profile (GJLAP) planning method using an asymmetrical corner smoothing strategy. Furthermore, we employ a bidirectional planning strategy to enable real-time look-ahead planning, achieving consistent acceleration over multiple corners, thus significantly enhancing the efficiency of machine tools. The final examples and comparisons with current methods demonstrate the superior performance of our method relative to real-time capabilities, machining efficiency, and geometric accuracy.