System and method for tool testing and alignment
First Claim
Patent Images
1. A method for improving a tool tip path of a waterjet cutting machine, comprising:
- sequencing a cutting head assembly coupled to the waterjet cutting machine through a first sequence of positions and orientations relative to a base reference frame;
receiving information indicative of the position and orientation of a sensor with respect to the base reference frame;
sequencing a cutting head assembly coupled to the waterjet cutting machine through a second sequence of positions and orientations relative to the position and orientation of the sensor;
sensing a location of the cutting head assembly at each position and orientation of the second sequence of positions and orientations with the sensor to obtain information indicative of the second sequence of positions and orientations; and
generating an improved tool tip path based at least in part on transformation parameters calculated from the information indicative of second sequence of positions and orientations.
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Abstract
A system and method for improving a tool tip path of a machine, such as a waterjet cutting machine, by testing and compensating for tool misalignment. The system and method using a sensor positioned to sense a portion of the machine, such as a cutting head assembly, during a sequence of movements thereof and configured to output information indicative of various positions and orientations of a tool of the machine so as to generate an improved tool tip path based on transformation parameters derived from such information.
32 Citations
19 Claims
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1. A method for improving a tool tip path of a waterjet cutting machine, comprising:
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sequencing a cutting head assembly coupled to the waterjet cutting machine through a first sequence of positions and orientations relative to a base reference frame; receiving information indicative of the position and orientation of a sensor with respect to the base reference frame; sequencing a cutting head assembly coupled to the waterjet cutting machine through a second sequence of positions and orientations relative to the position and orientation of the sensor; sensing a location of the cutting head assembly at each position and orientation of the second sequence of positions and orientations with the sensor to obtain information indicative of the second sequence of positions and orientations; and generating an improved tool tip path based at least in part on transformation parameters calculated from the information indicative of second sequence of positions and orientations. - View Dependent Claims (2, 3, 4, 5, 6, 17)
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7. A method for a computing system to improve a tool tip path of a waterjet cutting machine, comprising:
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under the control of one or more configured computing systems, providing instructions to move a cutting head assembly coupled to the waterjet cutting machine through a first plurality of positions and orientations; calculating a reference frame of a sensor based at least in part on information indicative of the first plurality of positions and orientations; providing instructions to move the cutting head assembly coupled to the waterjet cutting machine through a second plurality of positions and orientations relative to the reference frame of the sensor; receiving information indicative of the second plurality of positions and orientations of a portion of the cutting head assembly from the sensor, the sensor configured to sense the portion of the cutting head assembly as the cutting head assembly moves through the second plurality of positions and orientations proximate the sensor; and providing instructions to move a tool center point of the cutting head assembly along an improved tool tip path derived at least in part from the information indicative of the second plurality of positions and orientations of the portion of the cutting head assembly. - View Dependent Claims (8, 9, 10, 11, 12, 13, 18)
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14. A method for a computing system to improve a tool tip path of a multi-axis machine, comprising:
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under the control of one or more configured computing systems, providing instructions to move a tool coupled to the multi-axis machine through a first set of positions and orientations proximate a sensor; receiving information indicative of the position and orientation of the sensor as the tool moves through the first set of positions and orientations to determine a sensor reference frame; providing instructions to move the tool through a second set of positions and orientations proximate the sensor and relative to the sensor reference frame; receiving information indicative of the second set of positions and orientations of the tool from the sensor; calculating transformation parameters based at least in part on the information indicative of the second set of positions and orientations of the tool; and providing instructions to move the tool along an improved tool tip path derived at least in part from the transformation parameters. - View Dependent Claims (15, 16, 19)
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Specification