Method of and apparatus for copy controlling coordinate measuring probe with rotary table
First Claim
1. A method of copy controlling a coordinate measuring probe with a rotary table, for copy measuring the coordinates of an object to be measured using the coordinate measuring probe by installing the rotary table on a platen of a coordinate measuring machine and placing said object on said rotary table to rotate the object by the rotary table, the method comprising the steps of;
- determining a probe speed vector V of the probe when the rotary table is at a rotational angle θ
;
calculating the angular velocity ω
of the rotary table by the probe speed vector V relative to a measuring reference line of the object and correcting said angular velocity ω
to adjust the lead or retardation due to control error of said rotational angle θ
from target value so as to keep unchanged a direction of said probe with regard to said measuring reference line of the object;
calculating a follow-up speed vector VR that compensates the movement by the corrected angular velocity ω
; and
issuing as a speed command of the probe the vector sum VT (=V+VR) of said follow-up speed vector VR and said probe speed vector V and issuing said corrected angular velocity ω
as a speed command of the rotary table,whereby one axis copy control owing to the rotary table is incorporated in addition to three-axis copy control of the probe in the case where the rotary table is not employed, to achieve copy operation by simultaneous four-axes control keeping unchanged said direction of the probe with regard to said measuring reference line of the object.
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Accused Products
Abstract
For copy measuring the coordinates of an object to be measured using a coordinate measuring probe by disposing a rotary table on a platen of a coordinate measuring machine and placing the object on said rotary table and further rotating the object through said rotary table, there are calculated a speed vector V of the probe when the rotary table is stationary at the rotational angle θ and an angular velocity ω of the rotary table by said probe speed vector V viewed from the axis center of the object, and lead and retardation of said rotational angle θ is adjusted so as to keep unchanged an angular relationship between the object and the probe to determine the angular velocity ω anew. Further, there is calculated a speed vector VR that follows up the movement of said angular velocity ω, and the vector sum VT =V+VR is issued as a speed command to the probe and said angular velocity ω is issued as a speed command to the rotary table. Therefore, one axis copy control owing to the rotary table is incorporated in addition to three-axis copy control of the probe when the rotary table is not used, to perform simultaneous four-axis copy control keeping unchanged the angular relationship between the object and the probe.
195 Citations
8 Claims
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1. A method of copy controlling a coordinate measuring probe with a rotary table, for copy measuring the coordinates of an object to be measured using the coordinate measuring probe by installing the rotary table on a platen of a coordinate measuring machine and placing said object on said rotary table to rotate the object by the rotary table, the method comprising the steps of;
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determining a probe speed vector V of the probe when the rotary table is at a rotational angle θ
;calculating the angular velocity ω
of the rotary table by the probe speed vector V relative to a measuring reference line of the object and correcting said angular velocity ω
to adjust the lead or retardation due to control error of said rotational angle θ
from target value so as to keep unchanged a direction of said probe with regard to said measuring reference line of the object;calculating a follow-up speed vector VR that compensates the movement by the corrected angular velocity ω
; andissuing as a speed command of the probe the vector sum VT (=V+VR) of said follow-up speed vector VR and said probe speed vector V and issuing said corrected angular velocity ω
as a speed command of the rotary table,whereby one axis copy control owing to the rotary table is incorporated in addition to three-axis copy control of the probe in the case where the rotary table is not employed, to achieve copy operation by simultaneous four-axes control keeping unchanged said direction of the probe with regard to said measuring reference line of the object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for copy controlling a coordinate measuring probe with a rotary table, the apparatus comprising:
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a coordinate measuring machine including a platen and the coordinate measuring probe; the rotary table provided on the platen of said coordinate measuring machine for rotating an object to be measured; means for determining a probe speed vector V of the probe when said rotary table is at a rotational angle θ
;means for calculating the angular velocity ω
of the rotary table by the probe speed vector V relative to a measuring reference line of the object and for correcting said angular velocity ω
to adjust lead and retardation due to control error of said rotational angle θ
from target value so as to keep unchanged a direction of said probe with regard to said measuring reference line of the object;means for calculating a follow-up speed vector VR that compensates the movement by the corrected angular velocity ω
; andmeans for issuing vector sum VT (=V+VR) of said follow-up speed vector VR and said probe speed vector V as a probe speed command and issuing said corrected angular velocity ω
as a speed command of the rotary table,whereby one axis copy control owing to the rotary table is incorporated in addition to three-axes copy control of the probe when the rotary table is not used, to assure simultaneous four-axes copy control keeping unchanged said direction of the probe with regard to said measuring reference line of the object. - View Dependent Claims (8)
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Specification