This study developed an automatic planning method for tool collision avoidance, with posture adapted to the uncut shape of a workpiece to avoid collisions between the tool and workpiece in five-axis machining. This method sequentially judges the likelihood of collision between the holder and shank parts of the tool and the workpiece while machining, which is updated with tool motion. Then it automatically determines tool postures in which no collisions occur. The process of setting the search range for collision avoidance postures of the tool when collisions occur is made more efficient; it is possible to prevent rapid changes in tool posture at the time of avoidance, while reducing the time for geometric operations necessary when searching for compatible orientations.

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