Real time capable parallel kinematic machines(PKM)-optimized course planning

The potential advantages of parallel kinematic machines will only be used if software and hardware collaborate optimally. Nevertheless, in common CNCs the calculations are often still based on the conditions of serial kinematic machines. The transformation from Cartesian axes to machine axes is done at the end of the control cycle, after all other computations are finished. Before this, so called worst case limits, linearising the machine's behaviour, are usually used. This article presents an algorithm for path generation that consequently integrates the nonlinearity of the parallel kinematic machine's dynamic limits. Based on a polygon path, a smoothed path is generated, later a velocity profile is calculated, and finally a trajectory of time-indexed points is generated. The dynamic limits of the parallel kinematic machine at the actual position are always regarded in the calculations. © Carl Hanser Verlag.