A planning algorithm of trajectory and feedrate generation of spatial motion

In modern NC machining, interpolation of spatial motion such as spatial arc and spiral line is significant. Based on the quaternion interpolation algorithm and S curve velocity planning, we have discovered a method which can be used to machine spatial arc and spiral line. This method uses the quaternion to describe the arc interpolation in three-dimensional space. The arc information is transformed into the information of spherical interpolation. By doing this, the arc or spiral line trajectory can be particularly generated. The S curve feedrate profile will be used in the velocity generation process, which makes the machine impact very low. In the velocity generation process, all the line measurement will be translated into angular measurement in order to using quaternion interpolation. The experiment simulation results show that this method which has high calculation efficiency and low impact is a good way to machine the spatial arc and spiral line.