Generating trajectory for 5 DoF serial link CNC machine with kinematic constraints

The paper describes research concerned with generating and planning trajectory for the 5 DoF automated serial link CNC machine designed for industrial manipulation tasks with axially symmetrical workpiece. To generate the trajectory, the path based on several measurement points was interpolated by use of the 2D spline interpolation algorithm, the output of which is projected on the workpiece surface. Two restrictions are applied: the manipulator angle relative to the surface of the workpiece has to be and the trajectory has to be performed with constant velocity. The accuracy of the proposed method was investigated by simulation using the RobWork software package that gives the possibility of simulating the process of the trajectory following on given path.