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Feedrate scheduling is a key step in computer numerical control (CNC)machining, as it has a close relationship with machining time and surfacequality, and has now become a hot issue in industry and academia. To reducehigh chord errors and round-off errors, and generate continuous velocity,acceleration, and jerk profile of parametric interpolation, a novel andcomplete S-shape based feedrate scheduling algorithm is presented in thispaper. The algorithm consists of three modules: bidirectional scanning module,velocity scheduling module and round-off error elimination module. Thebidirectional scanning module with the limitations of chord error, normalacceleration/jerk and command feedrate aims to guarantee the continuity of thefeed rate at the junctions between successive NURBS sub-curves. After the NURBSsub-curves have been classified into two cases, the velocity scheduling modulefirstly calculates the actual maximum federate, and then generates the feedrate profiles of all NURBS sub-curves according to our velocity schedulingfunction. Later, the round-off error elimination module is proposed to make thetotal interpolating time become an integer multiple of the interpolationperiod, which leads to the elimination of round-off errors. Finally, benchmarksare conducted to verify the applicability of the proposed method compared withsome other methods.

A novel S-shape based NURBS interpolation with acc-jerk- Continuity and round-off error elimination