Input shaping-based corner rounding algorithm for machining short line segments

  • Chang Nho Cho
  • Young Hun Song
  • Chang Hyuk Lee
  • Hong Ju Kim


The smoothness and continuity of the tool path are crucial in high-quality machining. However, many tool paths are described using only line segments (G01), which inevitably cause discontinuities between blocks. Such discontinuity leads to vibration and feed rate fluctuation, which ultimately leads to a poor surface finish. This study proposes a novel input shaping-based corner rounding algorithm that ensure machining accuracy and vibration suppression. Input shaping is a model-based, robust vibration suppression solution, and it has been widely used in many applications. However, input shaping also distorts the original trajectory, which limits its usage in multiaxis systems. To ensure position accuracy, the corner rounding algorithm proposed in this study includes the position deviation regulation module and the distortion compensation module. The position deviation regulation module limits the position deviation due to corner rounding within the threshold while the distortion compensation scheme compensates for the distortion due to input shaping. The proposed algorithm has been verified via simulations and experiments using a two-degrees of freedom (DOF) Cartesian machine.


Input shaping Corner rounding Vibration reduction Trajectory generation 


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Funding information

This research was supported by Korea Electrotechnology Research Institute (KERI) Primary research program through the National Research Council of Science & Technology (NST) funded by the Ministry of Science, ICT and Future Planning (MSIP) (No. 17-12-N0101-22).


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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2018

Authors and Affiliations

  • Chang Nho Cho
    • 1
  • Young Hun Song
    • 1
  • Chang Hyuk Lee
    • 1
  • Hong Ju Kim
    • 1
  1. 1.Korea Electrotechnology Research InstituteChangwon-siSouth Korea

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