Path simulator for machine tools and robots

The paper deals with a set of the mathematical algorithms for a time parameterization of the motion paths of the machine tools. The key descriptors of the paths follow from CAD documentation, technical drawings or from technological demands. The presented algorithms provide a time mapping of individual path coordinates. The algorithms are based on the kinematical relations and on analytical geometry in space. They work with position, velocity, acceleration and jerk quantities. All algorithms are implemented in a path simulator, which was developed as a user friendly utility windows application. The described mathematical principles are demonstrated by several testing motion paths.