Trajectory generation for the hybrid robot from G code

A trajectory generator is one of the most important part of a CNC machine control system. It is required to ensure the smooth tool movement and feed rate changes, which can be done by limiting the jerk. The reason of developing the generator was the necessity of providing values of displacement, feed rate (velocity) and acceleration for all axes of milling machine with high sampling frequency required by the control system. The paper presents the generator of the trajectory from G code that can work with the 5 axes CNC milling robot.