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This paper proposes a real-time optimum feedrate planning for NURBS (Non-Uniform Rational B-Spline) motion trajectory considering motion dynamics including maximum feedrate and the limitations of acceleration and jerk. First, the estimated feedrate, which satisfies the chord accuracy and maximum feedrate limitation, can be evaluated by adaptive feedrate. Then, to achieve optimum feedrate planning, the estimated feedrate is fed into our proposed lowest feedrate first priority planning (LFFPP) algorithm, which can adapt any kind of acceleration/deceleration (ACC/DEC) profile. The curvature of an NURBS curve is calculated, and the estimated feedrate corresponding to different curvature and chord error is evaluated by adaptive feedrate. In addition, the break points, which have the local maximum curvatures and where the corresponding estimated feedrate is smaller than the maximum feedrate limitation, are picked up. The NURBS curve is separated into many segments by these break points and the estimated...

Real-Time Optimum Feedrate Planning for Coplanar NURBS Curves Considering Motion Dynamics