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附录A英文资料ASCHEMATICDESCRIPTIONFORPROPOSEDTOOLPATHGENERATIONANDCONTROLMETHODISDEPICTEDINFIG7INTHEPROPOSEDMETHOD,COMPOSITECUTTERCONTACTDATA,WHICHINCLUDETHESPLINEFUNCTIONSFORTHECCLOCATIONCANDTHESURFACEPRINCIPLENORMALN,THEPRESETCCVELOCITYCV,ANDTHETOOLINCLINATIONANDTILTANGLESΦANDΛ,ARELOADEDTOTHECNCMACHINEINTHECNCINTERPOLATOR,THECLPATHISCALCULATEDINREALTIMESOASTOMEETTHEDESIREDCCVELOCITYALONGTHECCPATHCONSEQUENTLY,THECUTTEROFFSETTINGALGORITHMISIMPLEMENTEDINTHECNCINTERPOLATORASISSHOWNINFIG7,AGLOBALFEEDBACKLOOPISCLOSEDBYTHEINTERPOLATOR,WHICHCANMONITORTHEPRACTICALCCLOCATIONCINREALTIMEANDCOMPENSATEFORTHEDEVIATIONERRORFROMTHEDESIREDCCPATHINADDITION,ONLINEADAPTATIONOFTHEFEDERATEIETHECCVELOCITYCANBEINTRODUCEDTOAUGMENTTHEMACHININGACCURACYANDEFFICIENCYFORINSTANCE,WECANSLOWDOWNTHEMACHININGBYREDUCINGCVASTHECCDEVIATIONERRORINCREASESSIGNIFICANTLYANDSPEEDUPTHEMACHININGBYREDUCINGCVASTHEDEVIATIONERRORISALWAYSNEGLIGIBLENOTICETHATAVARIABLEFEDERATEDUETOONLINEINCREASINGOFDECREASINGCVCANBEADOPTEDONLYWHENITDOESNOTCAUSEUNACCEPTABLEDEGRADATIONINOTHERFEDERATEDEPENDENTCUTTINGEFFECTS,SUCHASCUTTINGTIME,TOOLWEAR,SURFACEINTEGRITY,ETCCOSCOSSINCOSSINCTCCLCRNRRTNBRO（1）SINCOSCOSSINSINOTNB211,SINTANXYZTTOOO（3）,,,,,,,,TTTTTMMMMMXYZKINEMATICSXYZ（4A）ORSINCOSSINSINCOSSINTMXMMYMMMZMMMXBZLXLYLZCOSSINTYMMZMMYLYLZCOSSINSINCOSCOSCOSTMXMMYMMMZMMMZBZLXLYLZ4BTM,TMAND,,,,,,,,MMMMMTTTTTXYZINVKINEMATICSXYZ5AORCOSSINMXTTTTXLXZSINSINSINCOSSINCOSMYZTTTTTTTTTYLBXYZCOSCOSSINSINCOSCOSMZZTTTTTTTTTZLBXYZ,MTMT5B,,,,TTTTTTTTTTXXUYYUZZUUU（6）22122222222LLTTTTTTKKTTTTTTVHVHXXYYZZUUXYZXYZ7,,KKKTTTTUUTUUTUUDXDYDZXYZDUDUDU222222,,KKKTTTTUUTUUTUUDXDYDZXYZDUDUDU8,,,,,,,,RRRRRRRRRRMMMMMTTTTTRXYZINVKINEMATICSXYZTHEDESIREDALGORITHMSFORTHEPROPOSEDAPPROACHTOTOOLPATHGENERATIONANDCONTROLAREPRESENTEDINTHEFOLLOWING41CCPATHINTERPOLATION,CUTTEROFFSETTING,ANDINVERSEKINEMATICSCONVERSIONTHECOREFUNCTIONSFORTHEINTERPOLATORARETHECCPATHINTERPOLATION,THECUTTEROFFSETTING,ANDTHEINVERSEKINEMATICSCONVERSIONLETTHESPLINEFUNCTIONSFORTHECCLOCATIONCANDSURFACEPRINCIPLENORMALNBEEXPRESSEDBY,,,CCCCUXUYUZU,,XYZNUNUNUNU9WHEREUISTHESPATIALPARAMETERALONGTHESPLINETHEINTERPOLATIONALGORITHMSTATEDINTHEABOVESECTIONISUTILIZEDHEREBECAUSETHEINTERPOLATIONISCONDUCTEDFORTHECCOUTPUTPATH,RATHERTHANTHECLPATH,THESUBSCRIPTTINEQS7ANDEQS8NEEDSTOBEREPLACEDBYC,WHICHCORRESPONDSTOTHECCPATHBESIDES,THECLVELOCITYLVINEQ7NEEDSTOBEREPLACEDBYTHECCVELOCITYCVTHECUTTEROFFSETTINGALGORITHMINEQS1ANDEQS2ISALSOSUITABLEFORREALTIMECUTTEROFFSETTINGNOTICETHATBTNANDTHEUNITTANGENTVECTORTALONGTHECCPATHCANCALCULATEDBY11KKKKDCUCUCUDUTDCUCUCUDU10CAMCOMPUTATIONOFPRACTICALCCPATHINTERPOLATORAXIALCONTROLLERAXIALDRIVEAXIALCONTROLLERAXIALDRIVEMACHINEANDPROCESSCOMPOSITECCDATAC,N,VC,Ф,ΛCNCC﹡RPFIG7PROPOSEDTOOLGENERATIONANDCONTROLSCHEMETHROUGHTHECUTTEROFFSETTING,THECUTTERLOCATIONANDORIENTATIONISAVAILABLEBASEDONTHEINVERSEKINEMATICSCONVERSION,WHICHISDEPICTEDBYEQ5C,WECANGETTHEREFERENCECOMMANDSTOTHEFIVEAXIALDRIVES,RINADDITIONTOTHEABOVECOREFUNCTIONS,TWOOPTIONALFUNCTIONSTHATINCLUDEREALTIMECOMPENSATIONFORTHECCPATHDEVIATIONERRORANDADAPTATIONOFTHECCVELOCITYCANBEINTRODUCEDTOAUGMENTTHEPRACTICALCONTROLPERFORMANCETHESETWOFUNCTIONSBASEDONTHEFEEDBACKOFTHEPRACTICALCCPOINT,C42CALCULATIONOFPRACTICALCCPATHINTYPICAL5AXISMACHINETOOLMOTIONCONTROL,THEAVAILABLEFEEDBACKDATAARETHEOUTPUTPOSITIONSALONGTHEFIVEAXES,WHICHAREPMX,PMY,PMZ,PMANDPMBASEDONTHEDIRECTKINEMATICSCONVERSIONREFERRINGTOEQ4AAND4B,WECANGETTHEPRACTICALCUTTERLOCATION,LOASCOMPUTATIONOFPRACTICALCCPATHINTERPOLATORAXIALCONTROLLERAXIALDRIVEAXIALCONTROLLERAXIALDRIVEMACHINEANDPROCESSCOMPOSITECCDATAC,N,VC,Ф,ΛCNCC﹡RP