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A novel method to minimize the five-axis CNC machining error around singular points based on closed-loop inverse kinematics

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Abstract

Singularities in five-axis machining are a series of positions where the exact motion of the rotary axis becomes unpredictable or incalculable. In the neighborhood of a singular point, machining may cause unstable movements of drive axes and deteriorative dynamic performance of machine tools. In this paper, we proposed a closed-loop inverse kinematics method to solve accurately the five-axis joints’ parameters around singular points. To achieve this purpose, the damped Jacobian pseudoinverse algorithm is introduced and the machine joints’ velocities are calculated directly by the velocities of the five-axis cut points. The joints are then obtained by integrating the corresponding velocities. Furthermore, a feedback control method is applied to reduce the integrating error. In the end, simulations and experiments’ results demonstrated the effectiveness of the closed-loop inverse kinematics method.

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Funding

This project is supported by Scientific Research Projects of Colleges and Universities in Anhui Province (No.2022AH051037) and the National Natural Science Foundation of China (Grants No. 12001028, No. 62102013, and No. 62141605).

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Authors and Affiliations

  1. School of Mathematics and Physics, Anqing Normal University, Anqing, Anhui, China

    Zehong Lu

  2. Zhengzhou Aerotropolis Institute of Artificial Intelligence, Zhengzhou, Henan, China

    Zehong Lu & Guanying Huo

  3. LMIB & NLSDE & Institute of Artificial Intelligence, Beihang University, Beijing, China

    Guanying Huo & Xin Jiang

  4. Zhongguancun Laboratory, Beijing, China

    Guanying Huo & Xin Jiang

Authors
  1. Zehong Lu
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  2. Guanying Huo
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  3. Xin Jiang
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Contributions

All authors contributed to the study’s conception and design. Material preparation and data collection were performed by Zehong Lu. Analysis was performed by Zehong Lu, Guanying Huo, and Xin Jiang. The first draft of the manuscript was written by Zehong Lu and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Guanying Huo or Xin Jiang.

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Lu, Z., Huo, G. & Jiang, X. A novel method to minimize the five-axis CNC machining error around singular points based on closed-loop inverse kinematics. Int J Adv Manuf Technol 128, 2237–2249 (2023). https://doi.org/10.1007/s00170-023-11991-0

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  • DOI: https://doi.org/10.1007/s00170-023-11991-0

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