The linear motion command (G01) is a widely used command format in CNC machining. However, the tangential direction discontinuity at the corner junction will cause velocity fluctuations and excite the structural vibration of machine tools. Corner smoothing methods with controlled tolerance are used to obtain continuous smooth motion. Typically, most methods generate a symmetrical cornering trajectory around the angle bisector, and the trajectory generally decelerates first and then accelerates, which limits the velocity increase. In this paper, a novel local asymmetrical corner trajectory smoothing method is proposed, which can realize accelerated/decelerated cornering transition. The proposed method can obtain the analytical solution in one step, which is different from two-step geometric-based corner path smoothing, and can generate the same cornering trajectory in back-and-forth parallel toolpath. In addition, this paper proposes a bidirectional planning and adjusting algorithm for the situation where smoothed cornering paths are close to each other or even overlap. The algorithm can generate a jerk-limited trajectory by coordinating the cornering error of adjacent corners, while respecting the user-specified tolerance. Experimental results demonstrate the effectiveness of the proposed method in contour accuracy and cycle time for CNC machining along short-segmented toolpath.

直线运动指令（G01）是CNC加工中广泛使用的指令格式。但是，拐角处的切线方向不连续会引起速度波动并激发机床的结构振动。具有可控制公差的转角平滑方法用于获得连续的平滑运动。通常，大多数方法会围绕角度等分线生成对称的转弯轨迹，并且该轨迹通常先减速然后加速，这限制了速度的增加。本文提出了一种新的局部非对称拐角轨迹平滑方法，可以实现加速/减速转弯过渡。与基于几何的两步转角路径平滑不同，该方法可以一步获得解析解，并且可以在来回平行的刀具路径中生成相同的转弯轨迹。另外，针对平滑的转弯路径彼此接近甚至重叠的情况，提出了一种双向规划和调整算法。该算法可以通过协调相邻拐角的转弯误差，同时尊重用户指定的公差，来生成受冲击限制的轨迹。实验结果证明了该方法在轮廓线精度和循环时间方面的有效性，适用于沿短分段刀具路径进行CNC加工。该算法可以通过协调相邻拐角的转弯误差，同时尊重用户指定的公差，来生成受冲击限制的轨迹。实验结果证明了该方法在轮廓线精度和循环时间方面的有效性，适用于沿短分段刀具路径进行CNC加工。该算法可以通过协调相邻拐角的转弯误差，同时尊重用户指定的公差，来生成受冲击限制的轨迹。实验结果证明了该方法在轮廓线精度和循环时间方面的有效性，适用于沿短分段刀具路径进行CNC加工。