Coordinate rotation for numerical control system

• US 4,370,720 A
• Filed: 03/07/1972
• Issued: 01/25/1983
• Est. Priority Date: 12/28/1970
• Status: Expired due to Term

• Current Assignee: Gilbert P. Hyatt
• Original Assignee: Gilbert P. Hyatt
• Inventors: Hyatt, Gilbert P.
• Primary Examiner(s): Ruggiero, Joseph F.
• Application Number:
  US05/232,459
• Time in Patent Office: 3,976 Days
• Field of Search: 340/172.5, 235/151.11, 318/572, 364/474, 364/107, 364/120, 364/167-171, 364/188, 364/189
• US Class Current: 700/194
• CPC Class Codes: B60R 16/0373 Voice control in general G10L
• CPC Class Codes: F21V 23/00 Arrangement of electric circuit elements in or on lighting devices characterised by cooling arrangements F21V29/508
• CPC Class Codes: G01S 15/897 using application of holographic techniques
• CPC Class Codes: G01S 15/8977 using special techniques for image reconstruction, e.g. FFT, geometrical transformations, spatial deconvolution, time deconvolution
• CPC Class Codes: G01S 7/52026 Extracting wanted echo signals Doppler systems G01S15/50; Doppler short range imaging systems G01S15/8979
• CPC Class Codes: G02F 1/13318 Circuits comprising a photodetector
• CPC Class Codes: G03F 9/7049 Technique, e.g. interferometric
• CPC Class Codes: G03F 9/7088 Alignment mark detection, e.g. TTR, TTL, off-axis detection, array detector, video detection
• CPC Class Codes: G04G 99/006 Electronic time-pieces using a microcomputer, e.g. for multi-function clocks
• CPC Class Codes: G05B 19/351 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 19/408 characterised by data handling or data format, e.g. reading, buffering or conversion of data
• CPC Class Codes: G05B 19/4083 Adapting programme, configuration
• CPC Class Codes: G05B 19/4086 Coordinate conversions; Other special calculations
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 19/4093 characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 19/4142 characterised by the use of a microprocessor G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/33182 Uart, serial datatransmission, modem
• CPC Class Codes: G05B 2219/34023 Risc processor
• CPC Class Codes: G05B 2219/34098 Slope fitting, fairing contour, curve fitting, transition
• CPC Class Codes: G05B 2219/34471 : Program memory is inhibited, not accessible as long as power fails
• CPC Class Codes: G05B 2219/34472 : Configure alterable memory as read only, to avoid erasing
• CPC Class Codes: G05B 2219/35262 : Macro instruction, canned cycles, subroutines, subprogram
• CPC Class Codes: G05B 2219/35263 : Using variables, parameters in program, macro, parametrized instruction
• CPC Class Codes: G05B 2219/35373 : Data storage, buffer
• CPC Class Codes: G05B 2219/35431 : Interactive
• CPC Class Codes: G05B 2219/35436 : Means, manual input, input reference, hand wheel
• CPC Class Codes: G05B 2219/35453 : Voice announcement, oral, speech input
• CPC Class Codes: G05B 2219/35472 : Mode selection
• CPC Class Codes: G05B 2219/35554 : Mirror, other conversions
• CPC Class Codes: G05B 2219/36152 : Panel
• CPC Class Codes: G05B 2219/36333 : Selection from standard forms, shapes, partprograms, enter value for variable
• CPC Class Codes: G05B 2219/36366 : Data, read in, distribution
• CPC Class Codes: G05B 2219/36379 : Read in
• CPC Class Codes: G05B 2219/36503 : Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/36546 : Memory protection, protected fields
• CPC Class Codes: G05B 2219/41021 : Variable gain
• CPC Class Codes: G05B 2219/42237 : Pwm pulse width modulation, pulse to position modulation ppm
• CPC Class Codes: G05B 2219/45214 : Gear cutting
• CPC Class Codes: G05B 2219/45215 : Thread cutting
• CPC Class Codes: G05B 2219/49221 : Control of scale
• CPC Class Codes: G05B 2219/50047 : Positioning, indexing
• CPC Class Codes: G05B 2219/50048 : Jogging
• CPC Class Codes: G05B 2219/50083 : Power loss, measures again loss of power
• CPC Class Codes: G05B 2219/50151 : Orient, translate, align workpiece to fit position assumed in program
• CPC Class Codes: G06J 1/00 : Hybrid computing arrangements digitally-programmed analogue computers G06G7/06
• CPC Class Codes: G07G 1/12 : electronically operated digital data processing aspects G06Q20/00
• CPC Class Codes: G10L 19/00 : Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis in musical instruments G10H
• CPC Class Codes: G11C 11/565 : using capacitive charge storage elements
• CPC Class Codes: G11C 16/3431 : Circuits or methods to detect disturbed nonvolatile memory cells, e.g. which still read as programmed but with threshold less than the program verify threshold or read as erased but with threshold greater than the erase verify threshold, and to reverse the disturbance via a refreshing programming or erasing step
• CPC Class Codes: G11C 19/287 : Organisation of a multiplicity of shift registers
• CPC Class Codes: G11C 19/36 : using multistable semiconductor elements
• CPC Class Codes: G11C 27/00 : Electric analogue stores, e.g. for storing instantaneous values
• CPC Class Codes: G11C 27/04 : Shift registers
• CPC Class Codes: G11C 7/16 : Storage of analogue signals in digital stores using an arrangement comprising analogue/digital [A/D] converters, digital memories and digital/analogue [D/A] converters
• CPC Class Codes: Y02P 90/02 : Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

Multi-dimensional coordinate translation, rotation, and scaling for a machine control system provides translation, rotation, and scaling of coordinates such as for alignment, inch and metric, scaling, and expanded and contracted dimensions. A method of reducing accumulated errors uses absolute coordinate dimensions. Axis alignment provides for computationally aligning misaligned parts. Inch and metric scaling provides for dimensioning in either set of units. Expanded and contracted dimensions permits scaling to nominal dimensions, then expanding or contracting dimensions for special purposes such as compensation for thermal expansion and mating parts.

Claims

1. A machine control system comprising:

input means for providing object path end point signals;

an integrated circuit object memory for storing object path end point signals received from said input means;

rotation command means for providing a multi-dimensional rotation command signal;

translation command means for providing a multi-dimensional translation command signal;

an integrated circuit data processor for processing the object path end point signals stored in said object memory in real time in response to the multi-dimensional rotation command signal from said rotation command means and the multi-dimensional translation command signal from said translation command means to generate real time object control signals, said data processor including

a. multi-dimensional rotation processing means for performing multi-dimensional rotation processing of the object path end point signals from said object memory to generate multi-dimensional rotated object path end point signals in response to the multi-dimensional rotation command signal from said rotation command means,

b. multi-dimensional translation processing means for performing multi-dimensional translation processing of the object path end point signals from said object memory to generate multi-dimensional translated object path end point signals in response to the multi-dimensional translation command signal from said translation command means,

c. multi-dimensional scaling processing means for performing multi-dimensional scaling processing of the object path end point signals processed with said multi-dimensional rotation processing means and with said multi-dimensional translation processing means to generate reduced multi-dimensional rotated and translated path signals,

d. path smoothing processing means for performing path smoothing processing of the multi-dimensional reduced rotated and translated path signals processed with said multi-dimensional scaling processing means to generate smoothed and reduced multi-dimensional rotated and translated path signals, and

e. output means for generating the real time object control signals as smoothed and reduced multi-dimensional rotated and translated path control signals in response to the smoothed and reduced multi-dimensional rotated and translated path signals from said path smoothing processing means; and

control means for controlling motion of multi-dimensional machine elements in response to the smoothed and reduced multi-dimensional rotated and translated path control signals from said output means.

2. The system as set forth in claim 1 above, wherein said input means is a parts program tape reader input means for generating the object path end point signals as parts program motion command signals;

wherein said object memory is a parts program memory for storing parts program commands;

wherein said rotation command means is an operator rotation switch for generating the rotation command signals as a switch rotation command signal;

wherein said translation command means is an operator translation switch for generating the translation command signal as a switch rotation command signal;

wherein said data processor is a stored program data processor for processing the object path end point signals under control of a stored program;

wherein the real time object control signals are generated at a machine related rate for smooth path operation without discontinuities;

wherein said rotation processing means includes incremental axis alignment processing means for incrementally performing the multi-dimensional rotation processing of the object path end point signals to obtain incremental multi-dimensional rotated axis alignment object path end point signals in response to the multi-dimensional rotation command signal;

wherein said translation processing means includes incremental x, y, and z axis processing means for incrementally performing the multi-dimensional translation processing of the object path end point signals to obtain incremental multi-dimensional translated object path end point signals in response to the multi-dimensional translation command signal;

wherein said scaling processing means includes incremental size reduction x, y, and z scaling means for incrementally reducing the x, y, and z dimension with incremental scaling processing of the x, y, and z object path end point signals to obtain incremental reduced x, y, and z object path end point signals;

wherein said path smoothing processing means includes incremental fairing contour processing means for incrementally performing the path smoothing processing of the object path end point signals to obtain incremental smoothed object path end point signals;

wherein said output means includes a program responsive data processor output circuit for generating the smoothed and reduced multi-dimensional rotated and translated path control signals under control of the program stored in said main memory; and

wherein said control means is a machine servo.

3. The system as set forth in claim 1 above, wherein said multi-dimensional rotation command signal has a magnitude related to a desired resolution of the motion command signals.

4. The system as set forth in claim 1 above, wherein said data processor includes incremental processing means for processing the object path end point signals in incremental processing form.

5. The system as set forth in claim 1 above, wherein said multi-dimensional rotation processing means includes axis alignment processing means for processing the object path end point signals to generate the multi-dimensional rotated object path end point signals to align axis that were misaligned.

6. The system as set forth in claim 1 above, wherein said multi-dimensional rotation processing means includes axis alignment processing means for performing the multi-dimensional rotation processing of the object path end point signals to align axis that are misaligned to generate the multi-dimensional rotated object path end point signals as aligned object end point signals in response to the multi-dimensional rotation command signal from said rotation command means.

7. The system as set forth in claim 1 above, wherein said multi-dimensional rotation processing means includes axis alignment processing means for performing the multi-dimensional rotation processing of the object path end point signals as two dimensional rotation processing to align two axis that are misaligned to generate the multi-dimensional rotated object path end point signals as two dimensional aligned object end point signals in response to the multi-dimensional rotation command signal from said rotation command means.

8. The system as set forth in claim 1 above, wherein said multi-dimensional translation processing means includes means for performing the multi-dimensional translation processing of the object path end point signals as three dimensional translation processing to generate the multi-dimensional translated object path end point signals as two dimensional translated object path end point signals in response to the multi-dimensional translation command signal from said translation command means.

9. The system as set forth in claim 1 above, wherein said an integrated circuit data processor includes an incremental data processor for incrementally processing the object path end point signals stored in said object memory in real time in response to the multi-dimensional rotation command signal from said rotation command means and the multi-dimensional translation command signal from said translation command means to generate real time incremental object control signals.

10. The system as set forth in claim 1 above, wherein said multi-dimensional scaling processing means includes means for performing the multi-dimensional scaling processing of the object path end point signals processed with said multi-dimensional rotation processing means and with said multi-dimensional translation processing means to generate the reduced multi-dimensional rotated and translated path signals as reduced three dimensional rotated and translated path signals.

11. The system as set forth in claim 1 above, wherein said path smoothing processing means includes fairing contour means for performing the path smoothing processing of the multi-dimensional reduced rotated and translated path signals as fairing contour smoothing processing to provide a smooth contour between two paths to generate smoothed and reduced multi-dimensional rotated and translated path signals.

12. The system as set forth in claim 1 above, wherein said path smoothing processing means includes continuous means for performing the path smoothing processing of the multi-dimensional reduced rotated and translated path signals as high rate continuous smoothing processing to provide a smooth path to generate smoothed and reduced multi-dimensional rotated and translated path signals.

13. The system as set forth in claim 1 above, wherein said input means includes a data link to a host computer for communicating the object path end point signals from the host computer.

14. The system as set forth in claim 1 above, wherein said input means includes a serial data link to a remote computer for communicating the object path end point signals in serial data form from the host computer.

15. The system as set forth in claim 1 above, wherein the object end point command signals define a linear path and wherein said control means includes means for controlling motion of multi-dimensional machine elements along a linear path in response to the smoothed and reduced multi-dimensional rotated and translated path control signals from said output means.

16. The system as set forth in claim 1 above, wherein the object end point command signals define a non-linear path and wherein said control means includes means for controlling motion of multi-dimensional machine elements along a non-linear path in response to the smoothed and reduced multi-dimensional rotated and translated path control signals from said output means.

17. The system as set forth in claim 1 above, wherein the object end point command signals define a circular arc path and wherein said control means includes means for controlling motion of multi-dimensional machine elements along a circular arc path in response to the smoothed and reduced multi-dimensional rotated and translated path control signals from said output means.

18. A machine control system comprising:

motion input means for providing motion command signals;

rotation input means for providing a rotation command signal;

translation input means for providing a translation command signal;

a data processor for processing the motion command signals from said motion input means in response to the rotation command signal from said rotation input means and the translation command signal from said translation input means to generate rotated and translated motion control signals, said data processor including

(a) a main memory for storing a program,

(b) input logic for receiving the motion command signals from said motion input means, the rotation command signal from said rotation input means, and the translation command signal from said translation input means under control of the program stored in said main memory, and

(c) rotation processing logic for rotating the motion command signals received with said input logic to generate rotated motion command signals in response to the rotation command signal received with said input logic,

(d) translation processing logic for translating the rotated motion command signals that are rotated with said rotation processing logic to generate rotated and translated motion command signals in response to the translation command signal received with said input logic, and

(e) smoothing logic for generating smoothed rotated and translated motion control signals in response to the rotated and translated motion command signals; and

means for controlling motion of a machine along a smoothed rotated and translated path in response to the smoothed rotated and translated motion control signals from said smoothing logic.

19. The system as set forth in claim 18 above, wherein said motion input means is a parts program tape reader input means for generating the motion command signals as parts program motion command signals;

wherein said rotation input means is an operator rotation switch for generating the rotation command signal as a switch rotation command signal;

wherein said translation input means is an operator translation switch for generating the translation command signal as a switch rotation command signal;

wherein said data processor is a stored program data processor for processing the motion command signals under control of the program stored in said main memory;

wherein the motion control signals generated with said smoothing means are generated at a machine related rate in real time for smooth path operation without discontinuities;

wherein said rotation processing logic includes incremental axis alignment processing logic for incrementally performing the rotating of the motion command signals to obtain incremental multi-dimensional rotated axis alignment motion command signals in response to the rotation command signal from said rotation input means;

wherein said translation processing logic includes incremental x, y, and z axis processing logic for incrementally performing multi-dimensional translation processing of the rotated motion command signals to obtain incremental multi-dimensional translated and rotated motion command signals in response to the translation command signal;

wherein said smoothing logic includes incremental fairing contour processing means for incrementally performing path smoothing processing of the rotated and translated motion command signals to obtain incremental smoothed rotated and translated motion control signals;

said data processor further including a program responsive data processor output circuit for generating the smoothed rotated and translated motion command signals under control of the program stored in said main memory.

20. A machine control system comprising:

end point input means for providing edge end point signals;

rotation input means for providing a multi-dimensional rotation command signal;

means for processing the edge end point signals from said end point input means in response to the multi-dimensional rotation command signal from said rotation input means to generate rotated path control signals, said processing means including coordinate rotating means for rotating the coordinates of the edge end point command signals to generate rotated coordinate edge end point command signals in response to the multi-dimensional rotation command signal and control signal generating means for generating the rotated path control signals in response to the rotated coordinate edge end point command signals; and

means for controlling motion of multi-dimensional machine elements along a rotated path in response to the rotated path control signals.

21. A machine control system comprising:

distance input means for providing distance command signals related to commanding of a first distance;

scaling input means for providing a scaling command signal to change the distance commanded with said distance input means;

a data processor for processing the distance command signals from said distance input means in response to the scaling command signal from said scaling input means to generate scaled distance control signals, said data processor including dimension scaling means for scaling dimensions of the distance command signals from said distance input means to generate scaled distance command signals related to commanding of a second distance different from said first distance in response to the scaling command signal and means for generating the scaled distance control signals in response to the scaled distance command signals; and

means for controlling motion of a machine to move the second distance in response to the scaled distance control signals.

22. A machine control system comprising:

motion input means for providing motion command signals;

misalignment input means for providing a misalignment command signal related to a misalignment of a part to be cut;

a data processor for processing the motion command signals from said motion input means in response to the misalignment command signal from said misalignment input means to generate aligned motion control signals, said data processor including axis alignment resolving means for aligning coordinates of the motion command signals to generate aligned motion command signals in response to the misalignment command signal and means for generating the motion control signals as aligned motion control signals in response to the aligned motion command signals; and

means for controlling motion of a machine in an aligned direction in response to the aligned motion control signals.

23. A machine control system comprising:

motion input means for providing motion command signals in a first units system;

units input means for providing a units command signal to identify the first units system of the motion command signals;

a data processor for processing the motion command signals from said motion input means in response to the units command signal from said units input means to generate motion control signals in a second units system different from the first units system, said data processor including units converting means for converting the first units system of the motion command signals to generate converted motion command signals in the second units system in response to the units command signal and means for generating the motion control signals as converted motion control signals in the second units system in response to the converted motion command signals in the second units system; and

means for controlling motion of a machine in the second units system in response to the motion control signals in the second units system.

24. A machine control system comprising:

motion input means for providing motion command signals;

resolution input means for providing a resolution command signal;

a stored program data processor for processing the motion command signals in response to the resolution command signal under control of a stored program to generate motion control signals, said data processor including means for resolving the motion command signals to generate resolved motion command signals in response to the resolution command signals under control of a stored program and means for generating the motion control signals as resolved motion control signals in response to the resolved motion command signals, wherein said resolving means includes means for reducing accumulated errors in the generation of the resolved motion command signals under control of a stored program; and

means for controlling motion of a machine in response to the motion control signals.

25. A machine control system comprising:

motion input means for providing motion command signals;

resolution input means for providing a resolution command signal;

a stored program data processor for processing the motion command signals in response to the resolution command signal under control of a stored program to generate motion control signals, said data processor including means for resolving the motion command signals to generate resolved motion command signals in response to the resolution command signals under control of a stored program and means for generating the motion control signals as resolved motion control signals in response to the resolved motion command signals, wherein said resolving means includes means for reducing accumulated errors in the generation of the resolved motion command signals under control of a stored program, and wherein said accumulated error reducing means includes means for processing absolute position and incremental position information to provide the reduction of accumulated errors; and

means for controlling motion of a machine in response to the motion control signals.

26. A machine control system comprising

an input memory for storing edge endpoint coordinates;

rotation input means for generating a rotation command signal;

an incremental processor for incrementally processing the edge endpoint coordinates stored in said input memory in response to the rotation command signal from said rotation input means to generate rotated control signals, said incremental data processor including

(a) an integrated circuit main memory for storing an incremental program,

(b) an integrated circuit alterable memory for storing operands under control of the stored program,

(c) integrated circuit incremental processing logic for incrementally processing the operands stored in said alterable memory under control of the program stored in said main memory to rotate the edge endpoint coordinates stored in said input memory in response to the rotation command signal from said rotation input means, and

(d) means for generating the rotated control signals in response to the edge endpoint coordinates rotated with said incremental processing logic; and

means for controlling rotated motion of a machine in response to the rotated control signals.

27. A machine control system comprising:

a data link for providing motion command signals from a remote computer source of motion command signals;

coordinate rotation input means for providing a coordinate rotation command signal;

a data processor for processing the motion command signals from said data link in response to the coordinate rotation command signal from said coordinate rotation input means to generate rotated motion control signals, said data processor including means for rotating the motion command signals from said data link to generate coordinate rotated motion command signals in response to the coordinate rotation command signal and means for generating the rotated motion control signals having rotated coordinates in response to the coordinate rotated motion command signals; and

means for controlling rotated motion of a machine in response to the rotated motion control signals.

28. A machine control system comprising:

a data link to a host computer for communicating path endpoint signals;

a disk memory for storing path end point signals communicated with said data link;

rotation command means for generating a multi-dimensional rotation command signal;

translation command means for providing a multi-dimensional translation command signal;

an integrated circuit stored program data processor for processing the path end point signals stored in said disk memory in real time in response to the multi-dimensional rotation command signal from said rotation command means and the multi-dimensional translation command signal from said translation command means to generate real time control signals under control of a stored program, wherein said data processor includes

a. an integrated circuit main memory for storing the program,

b. multi-dimensional rotation processing logic for performing multi-dimensional rotation processing of the path end point signals stored in said disk memory to generate multi-dimensional rotated path end point signals in response to the multi-dimensional rotation command signal from said rotation command means under control of the program stored in said main memory,

c. multi-dimensional translation processing logic for performing multi-dimensional translation processing of the path end point signals stored in said disk memory to generate multi-dimensional translated path end point signals in response to the multi-dimensional translation command signal from said translation command means under control of the program stored in said main memory,

d. multi-dimensional scaling processing logic for performing multi-dimensional scaling processing of the path end point signals processed with said multi-dimensional rotation processing logic and with said multi-dimensional translation processing logic to generate reduced multi-dimensional rotated and translated path signals,

e. path smoothing processing logic for performing path smoothing processing of the multi-dimensional reduced rotated and translated path signals processed with said multi-dimensional scaling processing logic to generate smoothed and reduced multi-dimensional rotated and translated path signals, and

f. output logic for generating the real time control signals as smoothed and reduced multi-dimensional rotated and translated path control signals in response to the smoothed and reduced multi-dimensional rotated and translated path signals from said path smoothing processing logic; and

control means for controlling motion of multi-dimensional machine elements in response to the smoothed and reduced multi-dimensional rotated and translated path control signals from said output logic.