Compared to conventional linear and circular segments, the parametric curve has advantages in approximating and machining, guaranteeing higher machining precision and better machining quality. Therefore, in Computer Numerical Control (CNC) systems, parametric toolpath has become more and more popular for its high-performance in practical machining and the performance of the parametric interpolator has become a standard to illustrate the advanced CNC systems. In this paper, adaptive-feedrate planning and the iterative interpolator have been developed to generate sampling points with respect to error and higher order kinematic constraints. Firstly, a jerk-limited feedrate profile and look-ahead algorithm are utilized to provide reachable feedrate at critical points. Afterwards, normal jerk (i.e. the jerk in a normal direction) are limited to improve machining precision and quality. In theory, it is proved that the normal jerk limitations have relationship with curvature derivative and a novel iterative interpolator is proposed to ensure the normal jerk limitation by considering the corresponding constraints at curvature derivative extreme points. Finally, simulation and experiments are conducted to demonstrate the efficiency and contour performance of the proposed method compared to conventional method and time-optimal method.

与传统的线性和圆弧段相比，该参数曲线在逼近和加工方面具有优势，可确保更高的加工精度和更好的加工质量。因此，在计算机数控（CNC）系统中，参数化刀具路径因其在实际加工中的高性能而变得越来越流行，并且参数内插器的性能已成为说明先进CNC系统的标准。在本文中，已经开发了自适应进给计划和迭代插补器来生成有关误差和高阶运动学约束的采样点。首先，利用加加速度限制的进给率轮廓和超前算法在临界点提供可达到的进给率。之后，正常的混蛋（即 为了提高加工精度和质量，限制了急动）。从理论上证明了正常的加速度限制与曲率导数有关系，并提出了一种新颖的迭代插值器，通过考虑曲率导数极值点的相应约束来保证正常的加速度限制。最后，通过仿真和实验证明了该方法与常规方法和时间最优方法相比的效率和轮廓性能。