Contour Following Using C PH Quintic Spline Curve Interpolators

This paper presents a C Pythagorean-Hodograph (PH) spline curve interpolator for contourfollowing tasks. To generate the C PH quintic spline curve, a uniform knot sequence is employed. The Scurve motion planning architecture with variable feedrate for a planar C PH quintic spline curve is also developed. In particular, C cubic feed acceleration/deceleration is imposed on the first and last PH quintic spline segments. The proposed interpolation algorithm along with a simple position loop controller is employed to perform a closed C PH quintic spline curve following task. Experimental results indicate that the proposed interpolator is not only feasible for machining the complicated parametric curves represented in C PH quintic spline form but also yields satisfactory contouring performance for variable feedrate control.