Methods for smoother trajectories in LinuxCNC

LinuxCNC is an open source software package for computer numerical control of machine tools and industrial robots. The software is extremely modular and flexible, and it is used in a wide range of applications, from hobbyist CNC (Computer Numerical Control) machines to industrial automation. However, a key limitation of the current implementation (as of version 2.9.3) is the use of a trapezoidal motion planner. Trapezoidal motion planning, while easy to implement, suffers from acceleration discontinuities, resulting in undesired vibrations and wear on the machine during high speed operation. This is a key limitation given the ever increasing usage of modern CAM (Computer Aided Manufacturing) software and tooling that can operate at high speeds. The goal of this work is to analyze techniques for motion planning in LinuxCNC that can generate smooth motion.