ToolpathConsistency

Introduction

This repository contains the open-source numerical benchmarks for testing the consistency of your given path smoothing or trajectory planning methods. The consistency is a surface-centric evaluation that considers toolpaths and trajectories as a whole surface in CNC machining (specifically, single-point milling).

For the example shown in the following figure, we can see that some single tool marks (inconsistencies in surface quality of the machined surface) exist due inconsistencies in toolpaths' position (see c2) and trajectories' feedrate (see d2).

Fig. The consistency can lead to single tool marks.

Our paper reasoned that the main causes of inconsistencies is the sensitivity of path smoothing or trajectory planning to the cutter pose points. In the following figure, two adjacent input fold-paths (G01 block) are smoothed into totally different toolpaths through most existing methods.

Fig. Most existing methods are sensitivity to cutter pose points. Hence, they are inconsistent.

Citation

Please cite the following reference:

Wang Y, Hu C, Li Z, et al. On the consistency of path smoothing and trajectory planning in CNC machining: a surface-centric evaluation[J]. Robotics and Computer-Integrated Manufacturing, 2025, 92: 102873.

or in BiBTeX:

@article{wang2024consistency,
  title={On the consistency of path smoothing and trajectory planning in CNC machining: a surface-centric evaluation},
  author={Wang, Yunan and Hu, Chuxiong and and Li, Zeyang and He, Zhirui and Lin, Shiwen and Wang, Yushuo and Lin, Shize and Yu, Jichuan and Jin, Zhao and Zhu, Yu},
  journal={Robotics and Computer-Integrated Manufacturing},
  volume={92},
  pages={102873},
  year={2025},
  publisher={Elsevier}
}

How to Use ToolpathConsistency

Five benchmarks are provided in this repository:

• Segment with Strong Noise (SwSN)
• Segment with Weak Noise (SwWN)
• Corner Splitting (CS)
• Segment to Sine Curve (S2SC)
• Mercedes-Benz Mold (MBM)

Fig. Benchmarks. (a) SwSN and SwWN. (b) CS. (c) S2SC. Fig. Benchmark MBM.

See demo_*.m and our paper for details.

Results in Demos

Fig. Results in demos.