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Path planning for CNC machines considering centripetal acceleration and jerk

conference contribution
posted on 2013-01-01, 00:00 authored by A Shahzadeh, Abbas KhosraviAbbas Khosravi, Saeid Nahavandi
In planning an s-curve speed profile for a computer numerical control (CNC) machine, centripetal acceleration and its derivative have to be considered. In a CNC machine, these quantities dictate how much voltage and current should be applied to servo motor windings. In this paper, the necessity of considering centripetal jerk in speed profile generation especially in the look-ahead mode is explained. It is demonstrated that the magnitude of centripetal jerk is proportional to the curvature derivative of the path known as "sharpness". It is also explained that a proper limited jerk motion is only possible when a G2-continuous machining path is planned. Then using a simplified mathematical representation of clothoids, a novel method for approximating a given path with a sequence of clothoid segments is proposed. Using this method, a semi-parallel G2-continuous path with adjustable deviation from the original shape for a sample machining contour is generated. Maximum permissible feed rate for the generated path is also calculated.



IEEE Systems, Man and Cybernetics. Conference (2013 : Manchester, England)


1759 - 1764




Manchester, England

Place of publication

Piscataway, N.J.

Start date


End date




Publication classification

E1 Full written paper - refereed

Copyright notice

2013, IEEE

Title of proceedings

SMC 2013 : Proceedings of the 2013 IEEE International Conference on Systems, Man and Cybernetics