Polynomial and spline interpolation of machine tool orientations
First Claim
1. Control method for guiding a motion of a movable machine element of a numerically controlled industrial processing machine, comprising the steps of orienting the machine element in a workspace using orientation vectors;
- subdividing an orientation and a motion path of the machine element into a plurality of sequential contiguous motion segments;
changing the orientation of the machine element within a motion segment by tilting an orientation vector from a start vector to an end vector about a first angle in a plane spanned by the start vector and end vector and about a second angle perpendicular to the plane, and interpolating the first and second angles of the orientation vector over several motion segments on a surface of a cone.
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Accused Products
Abstract
In a method and apparatus for guiding the motion of a moveable machine element, the orientation of the machine element is defined by an orientation vector that can be programmed in each set. The orientation vector can be obtained by a linear great circle interpolation in a plane spanned by a start vector and an end vector. In more general cases, polynomials can be used in the program, enabling an almost arbitrary definition of the path that determines how the end vector is obtained. The interpolated orientation vector can also be rotated out of the plane by an arbitrary angle. An extended interpolation permits a representation of orientation changes on a conical surface having an arbitrary orientation in space. This enables the orientation axes to move across several sets with continuous velocity and acceleration.
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Citations
10 Claims
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1. Control method for guiding a motion of a movable machine element of a numerically controlled industrial processing machine, comprising the steps of orienting the machine element in a workspace using orientation vectors;
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subdividing an orientation and a motion path of the machine element into a plurality of sequential contiguous motion segments;
changing the orientation of the machine element within a motion segment by tilting an orientation vector from a start vector to an end vector about a first angle in a plane spanned by the start vector and end vector and about a second angle perpendicular to the plane, and interpolating the first and second angles of the orientation vector over several motion segments on a surface of a cone. - View Dependent Claims (2, 3, 4, 5)
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6. Numerical controller for guiding a motion of a movable machine element of a numerically controlled industrial processing machine, comprising:
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means for orienting the machine element in a workspace using orientation vectors;
means for subdividing an orientation and a motion path of the machine element into a plurality of sequential contiguous motion segments;
means for changing the orientation of the machine element within a motion segment by tilting an orientation vector from a start vector to an end vector about a first angle in a plane spanned by the start vector and end vector and about a second angle perpendicular to the plane, and means for interpolating the first and second angles of the orientation vector over several motion segments on a surface of a cone. - View Dependent Claims (7, 8, 9, 10)
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Specification