Table 4 Axis constraints and parameter of five-axis platform.
From: Dynamic look-ahead feedrate scheduling method based on sliding mode velocity control
| Â | Max velocity | Max acceleration | Max jerk | Max tracking error | Kqe1 | Kqe2 | Kqe3 |
|---|---|---|---|---|---|---|---|
X | 100Â mm/s | 1000Â mm/s2 | 10,000Â mm/s3 | 0.5Â mm | 0.01249Â s/mm | 1.1639E-6 s2/mm | 3.9411E-8 s3/mm |
Y | 100Â mm/s | 1000Â mm/s2 | 10,000Â mm/s3 | 0.5Â mm | 0.01381Â s/mm | 3.5954E-5 s2/mm | 6.0287E-7 s3/mm |
Z | 100Â mm/s | 1000Â mm/s2 | 10,000Â mm/s3 | 0.5Â mm | 0.01282Â s/mm | 4.3869E-5 s2/mm | 2.3732E-7 s3/mm |
A | 1Â rad/s | 10Â rad/s2 | 100Â rad/s3 | 0.1Â rad | 0.01200Â s/rad | 1.6516E-5 s2/mm | 4.4417E-8 s3/mm |
C | 0.5Â rad/s | 5Â rad/s2 | 50Â rad/s3 | 0.1Â rad | 0.02913Â s/rad | 3.1890E-4 s2/mm | 1.6285E-7 s3/mm |
