Relative Minimum Distance 3D-curve and 3D-Offsets Real Time Constant Feedrate Algorithms

The constant feedrate 3D RMD algorithms avoid most of the constraints introduced by the sampled-data system (chord error, inaccuracy, jerk). The main bottlenecks were the computations of the intersections (QSICs) of the implicit quadrics, the determination of the candidate point with the minimum distance to the QSIC (the best incremental step), the small execution time per step and the fast determination of the small 3D-offsets.The Twopoint RMD IPO is the extension to implicit polynomials of degree higher than two.