Contour following using C2 PH quintic spline curve interpolators

Javad Jahanpour, Mi Ching Tsai, Ming Yang Cheng, I. Han Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper presents a C2 Pythagorean-Hodograph (PH) spline curve interpolator for contourfollowing tasks. To generate the C2 PH quintic spline curve, a uniform knot sequence is employed. The Scurve motion planning architecture with variable feedrate for a planar C2 PH quintic spline curve is also developed. In particular, C1 cubic feed acceleration/deceleration is imposed on the first and last PH quintic spline segments. The proposed interpolation algorithm along with a simple position loop controller is employed to perform a closed C2 PH quintic spline curve following task. Experimental results indicate that the proposed interpolator is not only feasible for machining the complicated parametric curves represented in C2 PH quintic spline form but also yields satisfactory contouring performance for variable feedrate control.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
Publication statusPublished - 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


Dive into the research topics of 'Contour following using C2 PH quintic spline curve interpolators'. Together they form a unique fingerprint.

Cite this