Realization of a 5-axis NURBS Interpolation with Controlled Angular Velocity

5-axis machine tool plays an important role in high-speed and high-precision computer numerical control (CNC) machining of workpieces with complex shapes. A non-uniform rational B-spline (NURBS) interpolation format for 5-axis machining is proposed to adapt to the high speed machining (HSM). With this interpolation format, angles between orientation vectors are chosen as parameters of orientation B-spline constructed by an open controller to achieve reasonable orientation vectors in real-time interpolation process. Coordinated motion between linear axes and rotary axes is achieved by building a polynomial spline which relates interpolation arc lengths of position spline to angles of orientation spline. Algorithm routine of this interpolation format and its realization methods in the supported controller are discussed in detail. Finally, performance of the proposed NURBS interpolation format is demonstrated by a practical example.