Tool-path control for singularity avoidance of 5-axis machine tool by combining circular arc and cubic spline

Abstract

5-axis machine tools have the problem of singular point derived from their inverse kinematics. When a tool trajectory passes through the vicinity of the singular point, an abrupt movement of the rotational axis occurs, which the drive system cannot follow a command trajectory. This leads to the need to decrease the feed rate, which elongates the cycle time. This paper proposes a method to avoid singular point using cubic spline and circular arc, which realizes low angular acceleration and short cycle time. The simulation and experimental results verify the effectiveness of the proposed method.