Jerk-Constrained Feedrate Scheduling for Biaxial Contouring Systems: A Planning-to-Execution Simulation Study

Biaxial contouring systems are widely used in planar precision motion applications, where the assigned feedrate profile strongly affects motion smoothness, contour-following accuracy, and robustness during servo execution. However, many existing studies mainly focus on either controller-side contour-error regulation or planning-layer time optimality, while the influence of jerk-sensitive feedrate transitions on downstream contouring behavior is still insufficiently examined. To address this issue, this paper proposes a jerk-constrained and execution-aware feedrate scheduling framework for biaxial contouring systems. Starting from the admissible feedrate boundary determined by contour geometry and motion constraints, an acceleration-feasible baseline schedule is first generated through bidirectional reachability propagation. Then, jerk-oriented smoothness refinement and critical-region-preserving correction are introduced to suppress abrupt local transitions while maintaining dynamic admissibility and practical traversal efficiency. The refined path-domain schedule is further reconstructed into time-domain axis-level references for closed-loop contouring evaluation. A planning-to-execution simulation study is conducted on three representative contours, including a rounded triangular contour, an elliptical contour, and a butterfly-cross contour. The proposed method is compared with several baseline scheduling strategies under nominal, low-bandwidth, flexible-resonance, and parameter-mismatch conditions. The simulation results indicate that the proposed scheduler can reduce concentrated jerk responses and resonance-sensitive high-frequency excitation while achieving a more balanced tradeoff among traversal time, contouring accuracy, and robustness. The results also show that the benefit of the proposed method becomes more evident for geometrically complex contours and deteriorated servo conditions. The present study provides simulation-based evidence that execution-aware feedrate scheduling is an effective way to improve biaxial contouring performance without redesigning the low-level servo controller.