Trajectory planning system for integrated computer numerical control (CNC) machine, trajectory planning device, trajectory planning method, and computer program thereof

A trajectory planning device for configuring a processing setting comprising computing hardware of an integrated computer numerical control machine executing a processing trajectory to configure a processing setting further comprising:

• dividing a processing path to a plurality of processing segments;
• configuring a processing velocity parameter of a related processing segment according to a segment type of the processing segment so as to provide a processing setting;
• determining whether the segment type is a linear segment or a curved segment so as to configure a related tangent acceleration or a normal acceleration;
• determining whether the segment type is the curved segment;
• and
• configuring the normal acceleration of the processing segment, wherein the normal acceleration is configured by the tangent acceleration and a curvature radius of the curved segment
• further comprising recalculating the processing velocity parameter of the present processing segment according to the processing velocity parameter of the previous processing segment and the processing velocity parameter of the present processing segment, wherein the recalculating of the processing velocity parameter (νi) of the present processing segment is expressed as:
• v
• i
• =
• (
• v
• i
• -
• 1
• 2
• 2
• ·
• a
• max
• +
• 
• p
• i
• remain
• 
• )
• ·
• 2
• ·
• a
• max
• ·
• d
• max
• a
• max
• +
• d
• max
• wherein, i is an index value, νi-1 is the processing velocity parameter of the previous processing segment, amax is an allowed maximum acceleration, dmax is a allowed maximum deceleration, piremain is a segment length of the present processing segment;
• further comprising analyzing whether the processing velocity parameter matches an allowed condition so as to reconfigure the tangent acceleration or the normal acceleration of the processing segment,
• wherein the trajectory planning device further checks a velocity setting of a whole segment to determine whether the velocity setting complies with the segment property when executing an optimizing operation procedure, the trajectory planning device further checks the velocity setting of the whole segment to determine whether the velocity setting complies with the segment property when executing the optimizing operation procedure, the optimizing operation procedure comprises the following steps:
• calculating velocity parameters of i processing segments;
• analyzing velocity parameter of processing segment;
• recalculating the i-th processing segment to the first processing segment,
• determining i=0;
• assigning the processing segment which velocity/acceleration comply the allowed condition when i=0;
• determining i=i−1 when i≠0;
• calculating the velocity parameter of the i-th processing segment when i≠0.