Computerized machine control system

• US 4,364,110 A
• Filed: 06/05/1974
• Issued: 12/14/1982
• 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:
  US06/476,743
• Time in Patent Office: 3,114 Days
• Field of Search: 235/151.11, 364/474, 364/107, 364/118, 364/120, 364/200 MS File, 364/900 MS File, 364/131-136, 364/167-171, 364/188-190
• US Class Current: 700/180
• CPC Class Codes: B60R 16/0373 Voice control in general G10L
• CPC Class Codes: B65H 2557/2644 characterised by PID control
• 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 2219/23094 Debounce key
• 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 2219/35381 : Convert in real time input peripheral data to processor data, ouput data format
• 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 2219/35588 : Pack, compress data efficiently in memory
• CPC Class Codes: G05B 2219/36152 : Panel
• CPC Class Codes: G05B 2219/36227 : Assist operator to calculate unknown points, contours
• 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 2219/36395 : Load local computer program from host, data transfer ram to rom, BTR
• CPC Class Codes: G05B 2219/36502 : Ram for variable servo data, rom for fixed servo routine
• CPC Class Codes: G05B 2219/36503 : Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/36506 : Store in Rom and Ram
• 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 16/3418 : Disturbance prevention or evaluation; Refreshing of disturbed memory data
• 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 7/1042 : using interleaving techniques, i.e. read-write of one part of the memory while preparing another part
• 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

An improved machine control system having a display for operator interaction is provided. Feedback machine control is provided with an integrated circuit computer. Display of edges having rotation, translation, scaling, and smoothing is also provided.

Claims

1. A machine control system comprising:

an operator control panel for generating operator command signals;

a memory CRT display for storing path information and for displaying path information in response to path display signals;

feedback means for generating feedback signals related to machine operations;

an integrated circuit read only memory for storing a plurality of instructions;

an integrated circuit end point memory for storing digital path end point information;

a data link to a host computer for communicating the path end point information from said host computer to said end point memory, said data link including means for storing the path end point information communicated from said host computer in said end point memory;

a digital data processor for processing the digital path end point information stored in said end point memory under control of the instructions stored in said read only memory, said digital data processor including

(a) means for processing the digital path end point information stored in said end point memory in response to the operator command signals from said operator control panel under control of the instructions stored in said read only memory,

(b) feedback processing means for processing the digital path end point information stored in said end point memory in response to the feedback signals from said feedback means under control of the instructions stored in said read only memory,

(c) means for generating the path display signals to said memory CRT display in response to the digital path end point information stored in said end point memory under control of the instructions stored in said read only memory, and

(d) means for generating machine path control signals in response to the digital path end point information stored in said end point memory under control of the instructions stored in said read only memory; and

control means for controlling a machine along a path in response to the machine control signals.

4. The system as set forth in claim 1 above, further comprising:

means for storing numeric information in said end point memory in response to numeric switch signals;

wherein said path display signal generating means includes means for generating the path display signals related to the digital path end point information in response to the numeric switch signals;

wherein said digital data processor further includes means for processing the end point information stored in said end point memory in response to at least one operation switch signal; and

wherein said operator control panel includes numeric switch elements for generating the numeric switch signals and operation switch elements for generating the operation switch signals.

10. The system as set forth in claim 1 above, wherein said digital end point information processing means includes:

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

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

c. multi-dimensional scaling processing means for performing multi-dimensional scaling processing of the digital path end point information 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, and

c. 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;

wherein said path display signal generating means includes means for generating the path display signals as real time smoothed and reduced multi-dimensional rotated and translated path display signals in response to the smoothed and reduced multi-dimensional rotated and translated path signals from said path smoothing processing means; and

wherein said memory CRT display includes means for storing the real time smoothed and reduced multi-dimensional rotated and translated path information in response to the path display signals and for displaying the real time smoothed and reduced multi-dimensional rotated and translated stored path information.

11. The system as set forth in claim 10 above, wherein said data link includes means for communicating the path end point information as parts program information, wherein said end point memory is a parts program memory for storing parts program commands;

wherein said digital data processor is a stored program data processor for processing the digital path end point information under control of a program stored in said read only memory;

wherein the real time display signals are generated at a rate for smooth display operation without discontinuities;

wherein said rotation processing means includes incremental axis alignment processing for incrementally performing the multi-dimensional rotation processing of the digital path end point information to obtain incremental multi-dimensional rotated axis alignment digital path end point information;

wherein said translation processing means includes incremental x, y, and z axis processing means for incrementally performing the multi-dimensional translation processing of the digital path end point information to obtain incremental multi-dimensional translated object path end point signals, wherein said scaling processing means includes incremental size reduction x, y, and z scaling means for incrementally reducing the x, y, and z dimensions with incremental scaling processing of the x, y, and z digital path end point information to obtain incremental reduced x, y and z digital path end point information; and

wherein said path smoothing processing means includes incremental fairing contour processing means for incrementally performing the path smoothing processing of the digital path end point information to obtain incremental smoothed digital path end point information.

12. The system as set forth in claim 1 above, wherein said operator control panel includes an operator translation and rotation control for generating operator translation and rotation command signal;

wherein said memory CRT display includes means for displaying the path information as smoothed scaled translated and rotated path information to an operator in response to analog path display signals from a digital to analog converter;

wherein said digital data processor further includes

(e) translation and rotation processing means for performing translation and rotation processing of the the path display signals from said path display signal generating means in response to the operator translation and rotation command signals from said operator translation and rotation control to generate translated and rotated path display signals,

(f) scaling processing means for performing scaling processing of the translated and rotated path display signals generated with said translation and rotation processing means to generate scaled translated and rotated path display signals,

(g) smoothing processing means for performing smoothing processing of the scaled translated and rotated path display signals generated with said scaling processing means to generate smoothed scaled translated and rotated path display signals, and

(h) path display signal generating means for generating smoothed scaled translated and rotated digital path display signals in response to the smoothed scaled translated and rotated path display signals generated with said smoothing processing means to display smoothed scaled translated and rotated information to an operator; and

wherein said system further comprises a digital to analog converter for generating the analog path display signal to said memory CRT display in response to the smoothed scaled translated and rotated digital path display signal generated with said path display signal generating means.

13. The system as set forth in claim 12 above, wherein said data link includes means for communicating the path end point signals as parts program motion command signals;

wherein said end point memory is a parts program memory for storing parts program end point commands;

wherein said operator translation and rotation control include operator switches for generating the translation and rotation command signals as switch translation and rotation command signals;

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

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

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

wherein said translation and rotation processing means further includes incremental x, y, and z axis processing means for incrementally performing multi-dimensional translation processing of the incremental multi-dimensional rotated axis alignment path display signals to obtain incremental multi-dimensional translated and rotated path display signals in response to the multi-dimensional translation and rotation command signals;

wherein said scaling processing means includes incremental size reduction x, y, and z scaling means for incrementally reducing the x, y, and z dimensional with incremental scaling processing of the incremental multi-dimensional translated and rotated path display signals to obtain incremental reduced translated and rotated x, y, and z path display signals;

wherein said smoothing processing means includes incremental fairing contour processing means for incrementally performing the path smoothing processing of the incremental reduced translated and rotated x, y, and z path display signals to obtain incremental smoothed reduced translated and rotated x, y, and z path display signals;

wherein said digital to analog converter includes means for generating the path display signal as a smoothed and reduced multi-dimensional rotated and translated path control signal in response to the incremental smoothed reduced translated and rotated x, y, and z path display signals.

14. The system as set forth in claim 1 above, wherein said memory CRT display provides for design verification of a path in response to the path display signals.

2. A display system comprising:

a display for displaying real time smoothed and reduced multi-dimensional rotated and translated path information in response to a real time display signal;

a data link for communicating path end point signals from a host computer;

a disk memory for storing path end point signals communicated from said host computer over said data link;

a keyboard for generating the multi-dimensional rotation command signal;

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

an integrated circuit 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 keyboard and the multi-dimensional translation command signal from said translation command means to generate real time display signals, wherein said data processor includes

a. 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 keyboard,

b. 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,

c. 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,

d. 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

e. output logic for generating the real time display signal to said display as a real time smoothed and reduced multi-dimensional rotated and translated path display signal in response to the smoothed and reduced multi-dimensional rotated and translated path signals from said path smoothing processing logic.

15. The system as set forth in claim 2 above, wherein said multi-dimensional rotation processing logic includes incremental processing means for performing the multi-dimensional rotation processing in incremental processing form.

16. The system as set forth in claim 2 above, wherein said multi-dimensional rotation processing logic includes axis alignment processing means for performing the multi-dimensional rotation processing to generate the multi-dimensional rotated path end point signals to align an axis that was misaligned.

17. The system as set forth in claim 2 above, wherein said multi-dimensional rotation processing logic includes axis alignment processing means for performing the multi-dimensional rotation processing of the path end point signals to align axis that are misaligned to generate the multi-dimensional rotated path end point signals as aligned end point signals in response to the multi-dimensional rotation command signal from said keyboard.

18. The system as set forth in claim 2 above, wherein said multi-dimensional rotation processing logic includes axis alignment processing means for performing the multi-dimensional rotation processing of the path end point signals as two dimensional rotation processing to align two axis that are misaligned to generate the multi-dimensional rotated path end point signals as two dimensional aligned end point signals in response to the multi-dimensional rotation command signal from said keyboard.

19. The system as set forth in claim 2 above, wherein said multi-dimensional translation processing logic includes means for performing the multi-dimensional translation processing of the path end point signals as three dimensional translation processing to generate the multi-dimensional translated path end point signals as two dimensional translated path end point signals in response to the multi-dimensional translation command signals from said translation command means.

20. The system as set forth in claim 2 above, wherein said an integrated circuit data processor includes an incremental data processor for incrementally incrementally 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 keyboard and the multi-dimensional translation command signal from said translation command means to generate the real time incremental display signals.

21. The system as set forth in claim 2 above, wherein said multi-dimensional scaling processing logic includes means for performing the multi-dimensional scaling processing of the 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.

22. The system as set forth in claim 2 above, wherein said path smoothing processing logic 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 the smoothed and reduced multi-dimensional rotated and translated path signals.

23. The system as set forth in claim 2 above, wherein said path smoothing processing logic 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.

24. The system as set forth in claim 2 above, wherein said data link is a parts program data link for generating the path end point signals as parts program path end point signals;

where 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 path end point command signals under control of the program;

wherein said rotation processing logic includes incremental axis alignment processing logic for incrementally performing the multi-dimensional rotating processing of the path end point signals to generate incremental multi-dimensional rotated axis alignment path end point signals in response to the multi-dimensional rotation command signal from said keyboard;

wherein said translation processing logic includes incremental x, y, and z axis processing logic for incrementally performing multi-dimensional translation processing of the rotated path end point signals to generate incremental multi-dimensional translated and rotated path end point 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 multi-dimensional reduced rotated and translated path signals to generate incremental smoothed rotated and translated path signals; and

wherein said output logic includes means for generating the real time smoothed and reduced multi-dimensional rotated and translated path display signals under control of a stored program.

3. A machine control system comprising:

an operator rotation control for generating an operator rotation command signal;

a CRT display for displaying rotated path information in response to analog rotated path display signals;

feedback means for generating feedback signals related to machine operations;

an integrated circuit read only memory for storing a plurality of instructions;

an integrated circuit object memory for storing digital object information;

a digital incremental processor for incrementally processing the digital object information stored in said object memory in response to the operator rotation command signal, said digital incremental processor including

(a) rotation processing means for rotation processing of the digital object information stored in said object memory in response to the operator rotation command signal from said operator rotation control to generate rotated incremental digital object information;

(b) feedback processing means for processing the digital object information stored in said object memory in response to the feedback signals from said feedback means under control of the instructions stored in said read only memory,

(c) display processing logic for generating incremental digital rotated path display signals in response to the rotated incremental digital object information from said rotation processing means under control of the operator rotation command signal from said operator rotation control, and

(d) means for generating machine control signals under control of the instructions stored in said read only memory;

control means for controlling a machine in response to the machine control signals; and

a digital to analog converter for generating the analog rotated path display signals to said CRT display in response to the incremental digital rotated path display signals from said display processing logic.

25. The system as set forth in claim 3 above, further comprising an operator translation control for generating an operator translation command signal;

wherein said CRT display includes means for displaying smoothed scaled translated and rotated information in response to the analog rotated path display signals;

wherein said digital incremental processor further includes

(e) translation processing means for performing translation processing of the rotated incremental digital object information from said rotation processing means in response to the operator translation control to generate translated and rotated incremental digital object information,

(f) scaling processing means for performing scaling processing of the translated and rotated incremental digital object information generated with said translation processing means to generate scaled translated and rotated incremental digital object information,

(g) smoothing processing means for performing smoothing processing of the scaled translated and rotated incremental digital object information generated with said scaling processing means to generate smoothed scaled translated and rotated incremental digital object information, and

(d) means for generating a smoothed scaled translated and rotated digital display signal in response to the smoothed scaled translated and rotated incremental digital object information generated with said smoothing processing means to display smoothed scaled translated and rotated information to an operator; and

wherein said digital to analog converter includes means for generating the analog rotated path display signal to said CRT display in response to the smoothed scaled translated and rotated digital display signal generated with said digital display signal generating means.

5. A machine control system comprising:

an operator control panel for generating a stop command signal;

a CRT display for displaying size reduced path information in response to size reduced path display signals;

machine feedback means for generating feedback signals related to machine operations;

an integrated circuit read only memory for storing a plurality of instructions,

an integrated circuit object memory for storing digital object information;

a digital incremental processor for incrementally processing the digital object information stored in said object memory, said digital incremental processor including

(a) size reduction processing means for size reduction processing of the digital object information stored in said object memory to generate size reduced incremental digital object information,

(b) feedback processing means for processing the digital object information stored in said object memory in response to the feedback signals from said machine feedback means under control of the instructions stored in said read only memory,

(c) display processing means for generating the size reduced path display signals to said CRT display in response to the size reduced incremental digital object information generated with said size reduction processing means, and

(d) means for generating a stop control signal in response to the stop command signal from said operator control panel under control of the instructions stored in said read only memory; and

control means for stopping motion of a machine in response to the stop control signal.

26. The system as set forth in claim 5 above, wherein said operator control panel includes an operator translation and rotation control for generating operator translation and rotation command signals;

wherein said CRT display includes means for displaying smoothed translated and rotated reduced path information in response to a smoothed translated and rotated size reduced path display signal from a digital to analog converter;

wherein said digital incremental processor further includes

(e) translation and rotation processing means for performing translation and rotation processing of the size reduced incremental digital object information from said size reduction processing means in response to the operator translation and rotation command signals from said operator translation and rotation control to generate translated and rotated size reduced incremental digital object information,

(f) smoothing processing means for performing smoothing processing of the translated and rotated size reduced incremental digital object information generated with said translation and rotation processing means to generate smoothed translated and rotated size reduced incremental digital object information, and

(g) means for generating the size reduced path display signals as smoothed translated and rotated size reduced path display signals in response to the smoothed translated and rotated size reduced incremental digital object information generated with said smoothing processing means to display smoothed translated and rotated size reduced path information to an operator; and

wherein said system further comprises a digital to analog converter for generating the smoothed translated and rotated size reduced path display signal to said CRT display in response to the smoothed translated and rotated size reduced path information generated with said display signal generating means.

6. A machine control system comprising:

an operator translation and rotation control for generating operator translation and rotation command signals;

a CRT display for displaying smoothed scaled translated and rotated objects in response to incremental motion smoothed scaled translated and rotated digital display signal from a display signal generating means, said CRT display including

(a) means for receiving the incremental motion smoothed scaled translated and rotated digital display signals,

(b) means for storing information to be displayed,

(c) means for incrementally updating the stored information to be displayed in response to the incremental motion smoothed scaled translated and rotated digital display signals received with said receiving means, and

(d) means for generating a visual image of the incrementally updated stored information;

feedback means for generating a feedback signal related to a machine operation;

an integrated circuit read only memory for storing a plurality of instructions;

an integrated circuit scratch pad memory for storing digital information;

a digital data processor for processing the digital information stored in said scratch pad memory, said digital data processor including

(a) translation and rotation processing means for performing translation and rotation processing of the digital information stored in said scratch pad memory in response to the operator translation and rotation command signals from said operator translation and rotation control under control of the instructions stored in said read only memory to generate translated and rotated digital information,

(b) scaling processing means for performing scaling processing of the translated and rotated digital information generated with said translation and rotation processing means to generate scaled translated and rotated digital information,

(c) smoothing processing means for performing smoothing processing of the scaled translated and rotated digital information generated with said scaling processing means to generate smoothed scaled translated and rotated digital information,

(d) means for generating an incremental motion smoothed scaled translated and rotated digital display signal to said CRT display in response to the smoothed scaled translated and rotated digital information generated with said smoothing processing means to display smoothed scaled translated and rotated information to an operator, and

(e) means for generating machine control signals in response to the feedback signals from said machine feedback means under control of the instructions stored in said read only memory; and

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

27. The system as set forth in claim 6 above, wherein said data processor includes incremental processing means for processing the digital information stored in said scratch pad memory in incremental processing form.

28. The system as set forth in claim 6 above, wherein said translation and rotation processing means includes axis alignment processing means for performing rotation processing of the digital information to generate the translated and rotated digital information to align axis that were misaligned.

29. The system as set forth in claim 6 above, wherein said translation and rotation processing means includes axis alignment processing means for performing the rotation processing of the digital information to align axis that are misaligned to generate the translated and rotated digital information as aligned digital information in response to the translation and rotation command signal from said operator translation and rotation control.

30. The system as set forth in claim 6 above, wherein said translation and rotation processing means includes axis alignment processing means for performing rotation processing of the digital information as two dimensional rotation processing to align two axis that are misaligned to generate the translated and rotated digital information as two dimensional aligned digital information in response to said operator translation and rotation command signals from said operator translation and rotation control.

31. The system as set forth in claim 6 above, wherein said translation and rotation processing means includes means for performing the translated and rotation processing of the digital information as three dimensional translation and rotation processing to generate the translated and rotated digital information as two dimensional translated and rotated digital information in response to the operator translation and rotation command signals from said operator translation and rotation control.

32. The system as set forth in claim 6 above, wherein said digital data processor includes an incremental data processor for incrementally processing the digital information stored in said scratch pad memory in real time in response to the operator translation and rotation command signals from said translation and rotation to generate the incremental motion smoothed scaled translated and rotated digital display signals to said CRT display.

33. The system as set forth in claim 6 above, wherein said scaling processing means includes means for performing the scaling processing of the translated and rotated digital information to generate the scaled translated and rotated digital information as reduced three dimensional translated and rotated digital information.

34. The system as set forth in claim 6 above, wherein said smoothing processing means includes fairing contour means for performing the smoothing processing of the scaled translated and rotated digital information as fairing contour smoothing processing to provide a smooth contour between two paths to generate smoothed and reduced multi-dimensional translated and rotated digital information.

35. The system as set forth in claim 6 above, wherein said smoothing processing means includes continuous means for performing the smoothing processing of the scaled translated and rotated digital information as high rate continuous smoothing processing to provide a smooth path to generate smoothed and reduced multi-dimensional translated and rotated digital information.

36. The system as set forth in claim 6 above, further comprising a data link to a host computer for communicating digital information from the host computer to be stored in said scratch pad memory.

37. The system as set forth in claim 6 above, wherein said operator translation and rotation control includes an operator rotation switch for generating the translation and rotation command signals as switch translation and rotation command signals;

wherein said digital data processor is a stored program data processor for processing the digital information under control of a program stored in said read only memory;

wherein the smoothed scaled translated and rotated digital information generated with said smoothing processing means is generated in real time for smooth path operation without discontinuities;

wherein said translation and rotation processing means includes incremental axis alignment processing logic for incrementally performing rotation of the digital information to obtain incremental multi-dimensional rotated axis alignment motion command signals in response to the translation and rotation command signals from said operator translation and rotation control;

wherein said translation and rotation processing means further 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 and rotation command signals;

wherein said smoothing processing means 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; and

wherein said digital display signal generating means includes a program responsive data processor output circuit for generating the smoothed scaled translated and rotated digital display signal under control of the program stored in said read only memory.

7. A machine control system comprising:

an operator control panel for generating operator command signals;

a CRT display for design verification of a path in response to path display signals;

machine feedback means for generating feedback signals related to machine operations;

an integrated circuit read only memory for storing a plurality of instructions;

an integrated circuit end point memory for storing digital end point information;

read only memory address means for generating read only memory adress signals;

means for accessing stored instructions from said read only memory in response to the read only memory address signals;

end point memory address means for generating end point memory address signals in response to the stored instructions accessed from said read only memory;

means for accessing stored digital end point information from said end point memory in response to the end point memory address signals;

a digital data processor for processing digital information accessed from said end point memory in response to instructions accessed from said read only memory, said digital data processor including

(a) means for processing the digital end point information stored in said end point memory in response to the operator command signals from said operator control panel under control of instructions accessed from said read only memory,

(b) feedback processing means for processing digital end point information accessed from said end point memory in response to the feedback signals from said machine feedback means under control of the instructions accessed from said read only memory,

(c) means for generating the path display signals to said CRT display in response to digital end point information accessed from said end point memory under control of instructions accessed from said read only memory, and

(d) means for generating machine control signals in response to digital end point information accessed from said scratch pad memory under control of instructions accessed from said read only memory; and

control means for controlling a machine along a path in response to the machine control signals.

38. The system as set forth in claim 7 above, wherein said operator control panel includes an operator translation and rotation control for generating operator translation and rotation command signals;

and wherein said CRT display includes means for displaying smoothed scaled translated and rotated information to an operator in response to an analog display signal from a digital to analog converter;

wherein said digital end point information processing means further includes

(1) translation and rotation processing means for performing translation and rotation processing of the digital end point information stored in said end point memory in response to the operator translation and rotation command signals from said operator translation and rotation control to generate translated and rotated digital end point information,

(2) scaling processing means for performing scaling processing of the translated and rotated digital end point information generated with said translation and rotation processing means to generate scaled translated and rotated digital end point information, and

(3) smoothing processing means for performing smoothing processing of the scaled translated and rotated digital end point information generated with said scaling processing means to generate smoothed scaled translated and rotated end point digital information;

and wherein said path display signal generating means includes means for generating the path display signal as smoothed scaled translated and rotated digital display signals in response to the smoothed scaled translated and rotated digital end point information generated with said smoothing processing means to display smoothed scaled translated and rotated information to an operator; and

wherein said system further comprises a digital to analog converter for generating the analog display signal to said CRT display in response to the smoothed scaled translated and rotated digital end point information responsive path display signal generated with said path display signals generating means.

8. A machine control system comprising:

an operator control panel for generating operator command signals;

a CRT display for displaying smoothed and reduced multi-dimensional rotated and translated path information in response to path display signals;

machine feedback means for generating feedback signals related to machine operations;

an integrated circuit read only memory for storing a plurality of instructions;

an integrated circuit scratch pad memory for storing digital information, said scratch pad memory incuding means for storing a table of digital words;

means for accessing a digital word from the table of digital words stored in said scratch pad memory table storing means in response to an operator command signal;

a digital data processor for processing the digital information stored in said scratch pad memory under control of the instructions stored in said read only memory, said digital data processor including

(a) multi-dimensional rotation processing for performing multi-dimensional rotational processing of the digital information stored in said scratch pad memory to generate multi-dimensional rotated path signals in response to the operator command signals from said operator control panel,

(b) multi-dimensional translation processing means for performing multi-dimensional translation processing of the multi-dimensional rotated path signals from said multi-dimensional rotation processing means to generate multi-dimensional translated and rotated path signals in response to the operator command signals from said operator control panel,

(c) multi-dimensional scaling processing means for performing multi-dimensional scaling processing of the multi-dimensional translated and rotated path signals from 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) feedback processing means for processing the digital information stored in said scratch pad memory in response to the feedback signals from said machine feedback means under control of the instructions stored in said read only memory,

(f) means for generating the path display signals to said CRT display in response to the smoothed and reduced multi-dimensional rotated and translated path signals from said path smoothing processing means, and

(g) means for generating machine control signals in response to the digital word accessed from the table of words stored in said scratch pad memory under control of the instructions stored in said read only memory; and

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

9. A machine control system comprising:

an operator translation and rotation control for generating operator translation and rotation command signals;

a CRT display for displaying smoothed scaled translated and rotated information to an operator in response to an analog display signal from a digital to analog converter;

feedback means for generating a feedback signal related to a machine operation;

an integrated circuit read only memory for storing a plurality of instructions;

an integrated circuit scratch pad memory for storing digital information;

a digital data processor for processing the digital information stored in said scratch pad memory, said digital data processor including

(a) translation and rotation processing means for performing translation and rotation processing of the digital information stored in said scratch pad memory in response to the operator translation and rotation command signals from said operator translation and rotation control under control of the instructions stored in said read only memory to generate translated and rotated digital information,

(b) scaling processing means for performing scaling processing of the translated and rotated digital information generated with said translation and rotation processing means to generate scaled translated and rotated digital information,

(c) smoothing processing means for performing smoothing processing of the scaled translated and rotated digital information generated with said scaling processing means to generate smoothed scaled translated and rotated digital information,

(d) means for generating a smoothed scaled translated and rotated digital display signal in response to the smoothed scaled translated and rotated digital information generated with said smoothing processing means to display smoothed scaled translated and rotated information to an operator, and

(e) means for generating machine control signals in response to the feedback signal from said feedback means under control of the instructions stored in said read only memory;

control means for controlling a machine in response to the machine control signals; and

a digital to analog converter for generating the analog display signal to said CRT display in response to the smoothed scaled translated and rotated digital display signal generated with said display signal generating means.