Minimum Time Trajectory Optimization of CNC Machining with Tracking Error Constraints

Table 2

Performance comparison among MTT, SMTT, and TEC-SMMT for the butterfly contour.

	Planning time* (s)	Machining time (s)	Mean tracking error (μm)		Maximum tracking error (μm)
			𝑋	𝑌	𝑋	𝑌
MTT	12.23	2.736	63.31	76.51	162.61	161.08
SMTT	18.01	3.051	52.65	63.34	158.84	156.52
TEC-SMTT	37.64	3.403	41.98	50.65	118.60	135.49
SMTT-T1	23.90	3.462	41.64	49.95	154.24	136.51
SMTT-T2	21.82	3.853	34.4	41.23	146.43	127.56

∗Planning times in this table are obtained under the conditions of initial guess 0.001 and number of parameterized grids 250.