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    Curve interpolating method
    2.
    发明申请
    Curve interpolating method 有权
    曲线内插法

    公开(公告)号：US20060247820A1

    公开(公告)日：2006-11-02

    申请号：US11414170

    申请日：2006-05-01

    申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

    发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

    IPC分类号： G06F19/00

    CPC分类号： G05B19/4103 ,  G05B2219/34171

    摘要： The invention provides a method of generating a smooth curve from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes to perform interpolation along the curve. Corrected command points are obtained for linear axes and for rotary axes, respectively. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. And a curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, curve interpolation which is more appropriate than that in a multi-axis machine tool having two or more rotary axes can be performed.

    摘要翻译： 本发明提供了一种通过具有三个线性轴和两个或更多个旋转轴的多轴机床的数值控制器从指令的点序列生成平滑曲线的方法，以沿曲线执行内插。 对于直线轴和旋转轴分别获得纠正的指令点。 用于线性轴的校正指令点和旋转轴的校正指令点的组成部分彼此合成，以获得合成的校正指令点。 并且生成通过合成的校正命令点的曲线来执行插值。 结果，可以进行比具有两个以上旋转轴的多轴机床更合适的曲线插补。

    Method for track control
    5.
    发明申请
    Method for track control 有权
    轨道控制方法

    公开(公告)号：US20050049743A1

    公开(公告)日：2005-03-03

    申请号：US10489552

    申请日：2002-08-31

    申请人： Matthias Fauser ,  Steve Kallenborn

    发明人： Matthias Fauser ,  Steve Kallenborn

    IPC分类号： G05B19/4093 ,  G05B19/41 ,  G05B19/416 ,  G06F19/00

    CPC分类号： G05B19/416 ,  G05B19/40937 ,  G05B19/41 ,  G05B2219/34171 ,  G05B2219/34175 ,  G05B2219/43063 ,  G05B2219/49369 ,  Y02P90/265

    摘要： A method for continuous-path control includes predefining at least two global tolerances to a numerical control and predefining, to the numerical control, a tool path including support points, a non-continuously differentiable corner of the tool path being situated at each support point. The method also includes assigning, by a tolerance-assignment unit, one of the at least two global tolerances determined to the corner at each support point. A global edge tolerance may be predefined when the tolerance-assignment unit recognizes that the corner at the support point leads to an edge in a workpiece. A global curve tolerance may be predefined when the tolerance-assignment unit recognizes that the corner at the support point approximates a curvilinear, continuously differentiable curve. A global edge tolerance may be predefined to be smaller than a global curve tolerance. A numerical control includes an arrangement for specifying at least two global tolerances and an arrangement for specifying a tool path having support points at which non-continuously differentiable corners of the tool path are situated. The numerical control also includes a tolerance-assignment unit adapted to assign one of the at least two global tolerances to the corner at each support point.

    摘要翻译： 用于连续路径控制的方法包括将数字控制中的至少两个全局公差预定义为数值控制，并且预定义包括支撑点的刀具路径，刀具路径的非连续可微的拐角位于每个支撑点处。 所述方法还包括通过公差分配单元分配所确定的至少两个全局公差中的每一个在每个支撑点处的拐角。 当公差分配单元识别到支撑点处的角点导致工件中的边缘时，可以预定义全局边缘公差。 当公差分配单元识别到支撑点处的拐角接近曲线的连续可微曲线时，可以预定全局曲线公差。 全局边缘公差可以预定义为小于全局曲线公差。 数字控制包括用于指定至少两个全局公差的装置和用于指定具有支撑点的工具路径的装置，在该支撑点处刀具路径的不连续可微的拐角位于该位置。 数字控制还包括公差分配单元，其适于将至少两个全局公差中的一个分配给每个支撑点处的拐角。

    Curve interpolation method
    6.
    发明申请
    Curve interpolation method 有权

    公开(公告)号：US20040122549A1

    公开(公告)日：2004-06-24

    申请号：US10624600

    申请日：2003-07-23

    申请人： FANUC LTD.

    发明人： Toshiaki Otsuki ,  Hideo Ogino ,  Soichiro Ide ,  Takuji Chiba

    IPC分类号： G06F019/00

    CPC分类号： G05B19/4103 ,  G05B2219/33077 ,  G05B2219/34124 ,  G05B2219/34127 ,  G05B2219/34135 ,  G05B2219/34145 ,  G05B2219/34171 ,  G05B2219/42207

    摘要： A curve interpolation method capable of obtaining a curve approximating an original curve based on a sequence of command points within a tolerance set for the original curve, and performing interpolation on the obtained curve. Points Q1, . . . , Q2n are interpolated between respective two adjacent command points (P0, P1), (P1, P2), . . . , (Pnnull1, Pn) as shape-defining points. The shape-defining points are positioned within a tolerance width 2w set to the original curve. One shape-defining point and shape-defining points surrounding the one shape-defining point are successively selected and an approximate curve for the selected shape-defining points is successively created. The one shape-defining point is moved towards the approximate curve to determine a modified shape-defining point for the one shape-defining point. A smooth curve passing a sequence of the modified shape-defining points is created and interpolation for machining is performed on the created curve. Since the shape-defining points are positioned closer to an original target curve within a tolerance width set to the original curve than the command points, the created smooth curve passing the sequence of modified shape-defining points is well approximating the original target curve within the tolerance width.

    Method of tolerance-based trajectory planning
    7.
    发明授权
    Method of tolerance-based trajectory planning 有权
    基于容差的轨迹规划方法

    公开(公告)号：US07450127B2

    公开(公告)日：2008-11-11

    申请号：US11277305

    申请日：2006-03-23

    申请人： Jiawei Hong ,  Xiaonan Tan

    发明人： Jiawei Hong ,  Xiaonan Tan

    IPC分类号： G06T15/00

    CPC分类号： G05B19/4163 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416 ,  G05B2219/34171 ,  G05B2219/34175 ,  G05B2219/43057 ,  G05B2219/43199 ,  G05B2219/43203 ,  G05B2219/50179

    摘要： A method of controlling movement of a body at spaced apart instances along a trajectory in a multi-dimensional environment by determining a current position of the body at a current instance, determining an ideal point on the trajectory, determining a vector difference between the current position and the ideal point, and adjusting the body's velocity for a subsequent instance based on the vector difference. The method may be used in motion control systems for computer-controllable machine tools.

    摘要翻译： 一种通过在当前实例中确定身体的当前位置来确定身体在多维环境中的轨迹的情况下控制身体的移动的方法，确定轨迹上的理想点，确定当前位置 和理想点，并且基于向量差调整后续实例的身体速度。 该方法可用于计算机可控机床的运动控制系统。

    METHOD OF PERFORMING ADDITIVE LOOKAHEAD FOR ADAPTIVE CUTTING FEEDRATE CONTROL
    8.
    发明申请
    METHOD OF PERFORMING ADDITIVE LOOKAHEAD FOR ADAPTIVE CUTTING FEEDRATE CONTROL 有权
    用于自适应切割进料控制的添加剂预处理方法

    公开(公告)号：US20070091094A1

    公开(公告)日：2007-04-26

    申请号：US11277291

    申请日：2006-03-23

    申请人： Jiawei Hong ,  Xiaonan Tan

    发明人： Jiawei Hong ,  Xiaonan Tan

    IPC分类号： G06T15/70

    CPC分类号： G05B19/4163 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416 ,  G05B2219/34171 ,  G05B2219/34175 ,  G05B2219/43057 ,  G05B2219/43199 ,  G05B2219/43203 ,  G05B2219/50179

    摘要： The present invention involves a method of processing path data for a motive body. The control identifies a plurality of points along a target path, determines a maximum allowable stopping distance of the motive body at a last of the points, and ascertains a last maximum allowable speed of the motive body at the last point such that the motive body may come to a stop within the maximum allowable stopping distance. An other maximum allowable speed of the motive body is established at an other one of the points such that the motive body may possibly slow down to the last maximum allowable speed upon arriving at the last point.

    摘要翻译： 本发明涉及一种处理动力体的路径数据的方法。 该控制装置识别出沿着目标路径的多个点，确定最后一个点处的动力体的最大允许停止距离，并且确定最终点处的动力体的最后最大允许速度，使得动作体可以 在最大允许停车距离内停下来。 在另一个点建立动力体的另一个最大允许速度，使得在达到最后点时动力体可能会减慢到最后的最大允许速度。

    METHOD OF TOLERANCE-BASED TRAJECTORY PLANNING
    9.
    发明申请
    METHOD OF TOLERANCE-BASED TRAJECTORY PLANNING 有权
    基于公差的轨迹规划方法

    公开(公告)号：US20070046677A1

    公开(公告)日：2007-03-01

    申请号：US11277305

    申请日：2006-03-23

    申请人： Jiawei Hong ,  Xiaonan Tan

    发明人： Jiawei Hong ,  Xiaonan Tan

    IPC分类号： G06T11/20

    CPC分类号： G05B19/4163 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416 ,  G05B2219/34171 ,  G05B2219/34175 ,  G05B2219/43057 ,  G05B2219/43199 ,  G05B2219/43203 ,  G05B2219/50179

    摘要： The present invention involves a method of operating a motive body, where a target path is identified. The motive body is commanded to follow the target path from an initial position. The first actual position is sensed of the motive body after the commanding step. A first target subpath is calculated from the first actual position to correct for predictive errors in movement of the motive body. The actual position of the motive body is determined along each of a plurality of axes, and a multi-dimensional position error between the actual position of the motive body in each of the axes and a multi-dimensional reference trajectory is calculated. A multi-dimensional position error signal dependent upon the calculating step is determined. At least one of a speed and a direction of the motive body is established dependent upon the multi-dimensional position error signal.

    摘要翻译： 本发明涉及一种运动目标路径被识别的运动体的方法。 指挥机构从初始位置跟随目标路径。 在命令步骤之后，感测到第一实际位置上的动作体。 从第一实际位置计算第一目标子路径，以校正运动中运动中的预测误差。 按照多个轴中的每一个确定动作体的实际位置，计算出各动作体的实际位置与多维基准轨迹之间的多维位置误差。 确定取决于计算步骤的多维位置误差信号。 取决于多维位置误差信号建立动力体的速度和方向中的至少一个。

    Method for track control
    10.
    发明授权
    Method for track control 有权
    轨道控制方法

    公开(公告)号：US07016763B2

    公开(公告)日：2006-03-21

    申请号：US10489552

    申请日：2002-08-31

    申请人： Matthias Fauser ,  Steve Kallenborn

    发明人： Matthias Fauser ,  Steve Kallenborn

    IPC分类号： G06F19/00

    CPC分类号： G05B19/416 ,  G05B19/40937 ,  G05B19/41 ,  G05B2219/34171 ,  G05B2219/34175 ,  G05B2219/43063 ,  G05B2219/49369 ,  Y02P90/265

    摘要： A method for continuous-path control includes predefining at least two global tolerances to a numerical control and predefining, to the numerical control, a tool path including support points, a non-continuously differentiable corner of the tool path being situated at each support point. The method also includes assigning, by a tolerance-assignment unit, one of the at least two global tolerances determined to the corner at each support point. A global edge tolerance may be predefined when the tolerance-assignment unit recognizes that the corner at the support point leads to an edge in a workpiece. A global curve tolerance may be predefined when the tolerance-assignment unit recognizes that the corner at the support point approximates a curvilinear, continuously differentiable curve. A global edge tolerance may be predefined to be smaller than a global curve tolerance. A numerical control includes an arrangement for specifying at least two global tolerances and an arrangement for specifying a tool path having support points at which non-continuously differentiable corners of the tool path are situated. The numerical control also includes a tolerance-assignment unit adapted to assign one of the at least two global tolerances to the corner at each support point.

    摘要翻译： 用于连续路径控制的方法包括将数字控制中的至少两个全局公差预定义为数值控制，并且预定义包括支撑点的刀具路径，刀具路径的非连续可微的拐角位于每个支撑点处。 所述方法还包括通过公差分配单元分配所确定的至少两个全局公差中的每一个在每个支撑点处的拐角。 当公差分配单元识别到支撑点处的角点导致工件中的边缘时，可以预定义全局边缘公差。 当公差分配单元识别到支撑点处的拐角接近曲线的连续可微曲线时，可以预定全局曲线公差。 全局边缘公差可以预定义为小于全局曲线公差。 数字控制包括用于指定至少两个全局公差的装置和用于指定具有支撑点的工具路径的装置，在该支撑点处刀具路径的不连续可微的拐角位于该位置。 数字控制还包括公差分配单元，其适于将至少两个全局公差中的一个分配给每个支撑点处的拐角。