Simulation and experimental dataset for feedrate optimization algorithm validated on the KUKA KR210 robot and an industrial milling machine.
This dataset belongs to the publication "Time-optimal feedrate planning for real-time CNC machining via transformation between parametric and time spaces" (doi: 10.1016/j.jmapro.2026.01.016) A detailed description of the setup can be found in the publication.
The dataset contains the following folders (Feel free to contact the dataset owner if you have any questions about the dataset)
Simulation 1
Planning results in simulation study 1 on the KUKA KR210 robot, where the spline parameters, generated setpoints, and runtime measurements are provided.
Simulation 2
Benchmark results with the state of the art in simulation study 2 on a two-axis bufferfly-shaped toolpath. The spline parameters, generated setpoints and the related g-code are provided.
Simulation 3
Analysis of the regularization in simulation study 3, where the resulting jerk fft values and finishing times are provided with their corresponding regularization factors.
Experiment
Experimental validation with 3D freeform tracking on an industrial milling machine. The generated setpoints, spline parameters of the toolpath, and the measured motion data on the machine are provided, along with the associated g-code for the numerical control kernel.
TwinCAT3, 4024.65
ctrlX, 1.16.2
