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The round-off error, which is caused by cycle sampling of the interpolation period, affects the interpolation accuracy and motion smoothness of computer numerical control (CNC) machining. To consider the round-off error while restricting the motion parameters within their specified ranges, a time-rounding-up-based feedrate scheduling method is proposed. Firstly, the characteristics of S-shaped acceleration/deceleration (ACC/DEC) algorithm are analyzed by setting the jerk of each section as a variable. The expressions of jerk are derived and some important properties are discovered. According to these properties, it is possible to limit all the motion parameters in their given ranges through increasing the interpolation time and adjusting other motion parameters. Secondly, a new time-rounding-up scheme is designed to guarantee that the total interpolation time of each curve segment is an integer multiple of interpolation period. Then, based on the rounded time, the adjustment principles of the displacement and maximum feedrate are proposed to satisfy the various constraints. Its feasibility is also analyzed. Finally, based on the time-rounding-up scheme and the parameter adjustment principles, a series of feedrate scheduling methods are designed for different situations. For most situations, a non-standard S-shaped ACC/DEC profile can be generated with no round-off error and all the motion parameters can be restricted within their given ranges. A series of simulations and practical experiments are conducted to verify the good performance and applicability of the proposed method. [ABSTRACT FROM AUTHOR]

Feedrate scheduling is one of the most important factors of computer numerical control (CNC) machining and has become a crucial research problem. In order to improve the machining accuracy and motion smoothness, an optimized feedrate scheduling method considering round-off error compensation based on S-shaped acceleration/deceleration (ACC/DEC) algorithm is proposed in this paper. There are two main stages, namely initial feedrate scheduling and parameters calculation of round-off error compensation. In the stage of initial feedrate scheduling, a novel time rounding principle is introduced to reduce the round-off error. Meanwhile, the motion parameters of each section can be calculated based on the proposed feedrate scheduling method. The constant feedrate section used for round-off error compensation is always guaranteed to exist although the actual maximum feedrate might be smaller than the command feedrate. Then, in the stage of compensation parameters calculation, the round-off error can be obtained based on the proposed time rounding principle and the scheduled parameters should be updated. In order to maintain the continuity of the acceleration profile, the improved trapezoidal ACC/DEC algorithm is introduced to conduct the error compensation and the crucial parameters can be calculated based on its special properties. In addition, the feedrate look-ahead strategy is also tweaked to enhance the reliability of feedrate scheduling. Finally, a series of simulations and practical experiments with two non-uniform rational B-spline (NURBS) curves are conducted to verify the good performance and applicability of the proposed method. [ABSTRACT FROM AUTHOR]