九、發明說明： 【發明所屬之技術領域】 本發明係有關由一運動物體之一路徑導航，且特別是 有關於可控制計算機機床之運動控制系統。 【先前技術】 自動化已經導致可傳訊致動裝置之運動控制器之發 展，使得在執行有用的工作時，沿著一條預期軌道進行線 性運動。運動控制器於執行一指定作業時，可經由人工操 增加速度以及精確度。機器人和自動化生產設備是利用運 動控制技術產品中的例子。編程裝置通常藉著指定一目標 軌道作為一線條集合/弧線片段，以及沿著每一片段中一工 具之目標速度而完成。工具之速度沿著複雜軌道中的片段 群或是每一片段而經常保持恆定，此因沿著軌道上每一點 之速度最佳化非常耗時。 大多數編程工具軌道人員在速度和準確度之間的取 捨有一基本了解。眾所周知的是，高速使得控制系統更難 以保持在目標軌道上。因此，軌道程式設計者必須沿著目 標執道在速度和運動精確度之間作一取捨，這通常是取決 於程式設計者之經驗，而且當發現軌道偏離目標軌道時， 程式設計者的決定造成軌道之執行和修改以減低軌道部 分速度之一重覆性編程處理。因此，程式設計者可藉由沿 著執道操作工具速度以控制目標軌道之偏差，進而控制運 動的品質。 用於生產設備的運動控制系統通常被稱為電腦數控 T W2931 PA/ HURO126-21 5 1336822 單元(CNCs)，當目標執道之偏差減到最小時，該運動控制 系統可以使運動控制速度達到最大值。電腦數控單元可用 來控制生產設備，例如車床、磨床和工廠。電腦數控單元 是用在機床之即時控制的計算裝置。一數值控制器接收到 形成一零件加工程式之一套編碼指令。零件加工程式通常 使用藉由字母择認的編瑪’例如是G瑪、ίνί瑪或F瑪；且 藉由一標準G碼和Μ碼語言或基於國際標準化組織（ISO) 或電子工業協會(EIA)RS-274 D語言的一接近的衍生詞表 Γ 示。該編碼定義一連串的加工操作，以於一零件製造過程 中控制運動。數值控制器將編碼轉化成一連串電子信號， 該電子信號控制附屬於一機床之電動機，沿著該編程執道 造成工具運動。 操作一銑具之一運動控制器為電腦數控單元之一 例。其它利用電腦數控單元之生產設備的例子則為：車 床，磨床以及座標測量機（CMMs)。一三個軸的電腦數控 單元銑具有一頭部和一桌子，確立一正交X、Y、Z之直 ( 角座標系統，其中一工具安裝於頭部，且桌子相對工具可 以在Χ、Υ平面内移動。電動機分別於Χ、Υ方向和Ζ 方向分別控制桌子的運動以及工具的運動。位置感應器（通 常為編碼器或者標尺）提供回饋指出關於銑具之坐標系統 的工具位置。電腦數控單元在一個零件加工程式讀取詳細 指明一工具路徑執道，其中工具在一目標速度或饋送速率 採用該工具路徑執道。該控制單元持續比較當前工具位置 與指定之工具路徑。當該工具以目標速度沿著該工具路徑 TW2931 PA/ HUR0126-21 6 1336822 行進’控制單元可產生信號以控 ，實際轨道可以儘可能地符此’該工具 該控制器可以盥一電腦輔助α路徑或執道。 V現右π /、、電月自輔助加工（CAM)系統同時使用。 /、執道與目標轨道或工具 6 工誤差，，。.工誤差被估算為瞬間稱為“加 指定之目標轨道之間的距離。當^和工具路徑 元容限定義為：當機器加工 的：工：、，電腦數控單 制器用以維持良# 。的加工誤差量。運動控 哥良好或疋嚴役的電腦數 盖取決於許多因素，包括運動 限。加工誤 間橫越執道所選定的饋送速率:上之=和機器加工期 造成較大的加工誤差。 吊較间之饋送速率將 已熟知之零件加工程式並沒 單元容限的問題。機床操作者、^^也解決電腦數控 技師必須設定饋送速率以處理這：=式:二師或者機械 法用熟知之電腦數控單元編裎扭：:靖;際上，容限無 理冬以符人t #的運動控制器也不支援限制性運動之 二二ί二電腦數控單元容限規格。操作者作ΙΓί 於k擇k成可接党零件質量…之在 屬高排除率。適當地選擇貝且於同時羞生金 而一般經驗法則可能從^ =連率取決轉作者之經驗， 的手冊，第24版，工章^冊以及圖表獲得(例如:機器 然而，從料橋 但是特定的加工狀況時， =條：下雖然可行， 解釋局部機器加工條件，存 、。出版的數字無法 例如工具雜突_變化，IX. INSTRUCTIONS: TECHNICAL FIELD OF THE INVENTION The present invention relates to navigation by a path of a moving object, and more particularly to a motion control system for a controllable computer machine tool. [Prior Art] Automation has led to the development of motion controllers that can communicate with actuators such that linear motion along a desired track is performed while performing useful work. When the motion controller performs a specified job, it can increase the speed and accuracy through manual operation. Robotics and automated production equipment are examples of products that utilize motion control technology. The programming device typically accomplishes by assigning a target track as a line set/arc segment and along the target speed of a tool in each segment. The speed of the tool is often constant along the segments of the complex track or each segment, which is time consuming to optimize along each point on the track. Most programming tool trackers have a basic understanding of the trade-off between speed and accuracy. It is well known that high speed makes it more difficult for the control system to remain on the target track. Therefore, the orbital programmer must make a trade-off between speed and motion accuracy along the target, which is usually determined by the programmer's experience, and when the track is found to deviate from the target orbit, the programmer's decision is made. The execution and modification of the track is a repetitive programming process that reduces the speed of the track portion. Therefore, the programmer can control the quality of the motion by controlling the speed of the tool along the way to control the deviation of the target track. Motion control systems for production equipment are often referred to as computer numerical control T W2931 PA/HURO126-21 5 1336822 units (CNCs), which maximizes motion control speed when target deviations are minimized. value. CNC units can be used to control production equipment such as lathes, grinders and factories. The CNC unit is a computing device for immediate control of machine tools. A numerical controller receives a set of coded instructions that form a part processing program. The part processing program usually uses a letter-chosen by letter (for example, Gma, ίνίma or Fma); and by a standard G code and weight language or based on the International Organization for Standardization (ISO) or the Electronics Industry Association (EIA) A close derivative of the RS-274 D language. This code defines a series of machining operations to control motion during the manufacturing of a part. The numerical controller converts the code into a series of electronic signals that control the motor attached to a machine tool along which the tool moves. One of the operations of a milling tool is a computer numerical control unit. Other examples of production equipment using computer numerical control units are: lathes, grinding machines and coordinate measuring machines (CMMs). A three-axis CNC unit milling has a head and a table to establish an orthogonal X, Y, Z straight (angle coordinate system, one of the tools is mounted on the head, and the table relative tool can be in the Χ, Υ Movement in the plane. The motor controls the movement of the table and the movement of the tool in the Χ, Υ and Ζ directions respectively. The position sensor (usually the encoder or the ruler) provides feedback to indicate the position of the tool about the coordinate system of the milling tool. The unit reads in a part processing program to specify a tool path, wherein the tool uses the tool path at a target speed or feed rate. The control unit continuously compares the current tool position with the specified tool path. When the tool The target speed travels along the tool path TW2931 PA/ HUR0126-21 6 1336822 'The control unit can generate signals to control, the actual track can be as close as possible'. The tool can be a computer-assisted alpha path or obey. V is now right π /,, electric month self-assisted machining (CAM) system is used at the same time. /, orbit and target track or tool 6 error The error is estimated to be instantaneously called "the distance between the specified target orbits. When the ^ and tool path element tolerances are defined as: when machining: The amount of processing error. The number of computers that are good or strict in sports control depends on many factors, including the motion limit. The processing rate selected by the processing error is: the upper = and the machining period Large machining error. The feed rate between the cranes will be well known. The part processing program does not have the tolerance of the unit. The machine operator, ^^ also solves the computer numerical control technician must set the feed rate to handle this: =: two The teacher or the mechanical method uses the well-known computer numerical control unit to edit the twist:: Jing; On the occasion, the tolerance is unreasonable. The motion controller of Furen t # does not support the restrictive movement of the two or two computer numerical control unit tolerance specifications. The operator makes ΙΓί to choose the quality of the party parts... It is a high exclusion rate. Appropriately choose B&B and at the same time shame the gold and the general rule of thumb may depend on the experience of the author. manual The 24th edition, the work chapter and the chart are obtained (for example: the machine, however, from the bridge but the specific processing conditions, = strip: although feasible, explain the local machine processing conditions, save, . The published figures cannot be, for example, tools Sudden change
丁 W293ΙΡΑ/ HUR0I26-21 U 7 1336822 饋送速率最佳化之工作留給操作者。在零件加工程式期 間，當使機床之生產力達到最高時，對一操作者來說’選 擇饋送速率值以達到目標零件質量是很困難的。 美國專利字號6 ’ 242，880揭露一容限型運動控制系 統，包括基於容限約束以設定饋送速率之一種方法。雖然 這項專利表示運動控制技藝之一重大進步，但是尚須容限 指令、E代碼和容限範圍之使用上的改進，以於容限限制 提升操作中的饋送速率。 「 【發明内容】 有鑑於此，本發明可很順利地應用於任何一運動體之 執道。例如，本發明可用於平滑處理任何運動體的執道， 例如是一車輛或者投射體，不管該車輛或投射體是在陸 路、海或空氣運動。根據由編程人員和編程的工具路徑所 指定的電腦數控單元容限，本發明具體實施中之方法可用 來調整一電腦數控單元機床之饋送速率，沿著編程軌道之 每個點界定最大之可允許饋送速率。這個資訊以及位置回 ( 饋同時沿著實際運動軌道修正饋送速率，如此以阻止 位置偏離於理想的編程路徑，因此可以獲得所需之電腦數 控單元容限。 容限型控制（TBC)科技將電腦數控單元容限的觀念引 進編程和機器加工的領域，使得電腦數控編程人員可藉由 使甩最大或者近乎最大可允許的饋送速率，於一指定的切 割條件之下編程一零件，例如是切割機、速度，切割深度， 物質條件等等，並且指定一目標電腦數控容限。 TW2931 PA/ HUR0126-2 ] 8 離，且該第-線條延伸於一第一點 .延伸於該第二點與—第三點之…」/點之間。決定 J t第二線條之令間部 變化角度。如果第一距離和/或第二距離少於:^ 大於-角度閨限。時執订平滑處理，並且變化角 -種中之另—形式包括’―動機體調整路徑資料之 / μ方法包括確認路徑資料之連續四個！^。$ 績四個點包括-第—點，、第 \個點該連 點。土〜θ ”、 第一"、、占以及_第四 疋疋否第二點適用於平滑處理。如果第_點、 滑處理，則可以踮—^ 那禾弟一點適於平 且笛_ 、 疋第一弧線和一第二弧線的位置，並 區。第一弧線由第二: 電弧線之間的一個地 第二弧線則由第二冑點以及第四個點界定。 L 弟』、第二點以及第四點界定。相關於笛 一點之至少一弧線移動 ' 本發明中:^關線條移動。 一種方法X。辞古、、形式包括，調整一動機體路徑資料之 "X法包括確認路徑資料之連續四個點。 ':四個點包括-第-個點、-第二個點、一第三:點= 四：點。第一弧線的位置可以由第一個點 個較笛. 第—弧線之位置可以由第一個點、第二 第二弧線之間的地區。 #弧線和 發月更進步之形式包括’用以一 徑資料的一種方 勒機體之路 万凌，該方法包括確認確認一線條移動，該 TW2931PA/HUR0126-21 1336822 線條由路徑資料之一第一個點延伸至一第二個點。線條移 動被一第一弧線移動與一第二弧線移動取代。第一弧線耖-動於第一個點開始而結束於一個接合點。第二弧線移動則v „ 由接合點開始而結束於第二個點。 • 本發明之又一形式包括，用於一動機體處理路徑資科 的一種方法，例如是一.機床=該方法包括沿著一目標’具 絡徑確認複數個點，以及最後一點時，決定工具之一最大 <允許停止距離。工具於最後一點上之最新的最大<允# · f 速度可以確定工具可在最大可允許停止距離内停止。當於 這些點中的其它一點時，工具的其它最大可允許速度<以 碡立在最後一點時，工具可以減速到最新的最大可允許速 ， 度。 本發明之另一形式包括，用於一機床處理路徑資料之 --種方法，該方法包括沿著一目標工具路徑確認複數個 點，以及包括確立一實際工具路徑與目標工具路徑之間的 最大可允許偏差程度。沿著目標工具路徑複數個位置上， (- 確認目標工具路徑的曲率被，以及沿著目標工具路徑之每 _ 個點上’確定工具之最大可允許容限速度，在此，最大可 允許的容限速度取決於最大可允許偏離程度以及曲率。於 一最後一點上’確定工具得一最大可允許停止距離。位於 最後一點上’工具的一最大可允許停止速度可以確定工具 可以在最大可允許停止距離内停止。除了最後一點，任一 點上工具之一其它最大可允許停止速度，可以確立工具在 最後一點時可以減速到最大可允許速度。確認每一點上的 TW2931PA/HUR0126-21 14 1336822 工件的尺寸、形狀和其他物理特徵。通常，為了在一較短 期間以及尺寸容限限制條件内製造零件，一軌道預處理步 驟104包括計算機床應該採用之一目標工具路徑以及傀送 速率。當機械加工零件時，指定機床之實際位置的位置回 饋用於一預測和隨機誤差補整步驟106中，以校正伺服命 令而改變機床方向而補整。例如，與指定之工具路徑比較 時，在實際機床路徑中修改兩種誤差一預測或重複誤差和 隨機或非重複誤差。一最後步驟108中，傳送校正後之伺 服命令到伺服放大器以於開動機床時使用。 參照圖2之流程圖，圖2中對於圖1之方法有更詳細 之描述。大致上，步驟102和步驟104相當於圖2之佇列 管理程式作業，並且步驟106和步驟108相當於圖2之運 轉系統作業。零件加工程式使零件加工的表面上有不連續 點之位置，並且數值控制可以插入於這些不連續點之間， 因而定義由連續線條和弧線所形成之一目標軌道或工具 路徑。於此“弧線”一詞可以表示一環狀物的一片段，亦即 是，弧線有一定之半徑。在用戶零件加工程式裡的資料品 質與一機床切割結果品質有直接關係。劣質資料經常導致 一不光滑的表面拋光。 佇列管理作業以連續四次操作預處理零件加工程式 運動資料，此四次連續操作於運轉系統作業執行之前，將 零件加工運動資料轉變成高品質運動資料。這四次操作 為：容限佇列202内之容限理解、壓縮佇列204内之資料 壓縮、平滑處理佇列206内之資料平滑處理，以及預看佇 TW2931 PA/ HUR0126-21 17 1336822 列208内之加成性預看法。佇列管理程式可執行在每一广 列上處理的對應資料，並且以—管線方式透料續仔列^ 動該資料流。資料處理包括容限作列上之容限理解操作、_ 壓縮符列上之資料㈣操作、平滑處理糾上之平滑處理气 操作，以及預看佇列上之預看操作。 佇列模紐可預處理數控單元運動指令，例如是位置 (G00)、線條（G01)、弧線（G〇2，G〇3)，以及用於容限型控 制之-數控單元容限指令E。容限型控制單元技術的使用二 係符合於現有或傳統電腦數控單元零件加工程式。這項技 術使得操作者可指定數控單元容限指令，以及現存用於執 行的數控單元指令。透過插入一新的數控單元容限指令於 -現有之G碼和M碼零件加卫程式内’電腦數控單^編 程人員可指定不同電腦數控單元容限限制條件。 數控單元容限指令指定一個地區、用於該地區之一容 限值以及-指令確餘目。—數控單元容限指衫義為一 Ε碼： E tol Xxl Yyl Zzl Xx2 Yy2 Zz2 lid 一 E碼請求由斜角座標（xl，yl，zl)以及(x2，y2，z2)，Ding W293ΙΡΑ / HUR0I26-21 U 7 1336822 The feed rate optimization work is left to the operator. It is difficult for an operator to select a feed rate value to achieve the target part quality during the part machining program when the machine's productivity is maximized. U.S. Patent No. 6 242,880 discloses a tolerance type motion control system including a method of setting a feed rate based on tolerance constraints. While this patent represents a significant advancement in motion control technology, improvements in the use of commands, E-codes, and tolerance ranges are still needed to limit the feed rate in operations. [Invention] In view of the above, the present invention can be applied smoothly to any one of the moving bodies. For example, the present invention can be used to smoothly process the behavior of any moving body, such as a vehicle or a projecting body, regardless of the The vehicle or projectile is moving on land, sea or air. According to the computer numerical control unit tolerance specified by the programmer and the programmed tool path, the method of the present invention can be used to adjust the feed rate of a computer numerical control unit machine. Define the maximum allowable feed rate along each point of the programmed track. This information and the position return (feed simultaneously correct the feed rate along the actual motion track, thus preventing the position from deviating from the ideal programming path, thus obtaining the desired Computer numerical control unit tolerance. Tolerance Control (TBC) technology introduces the concept of computer numerical control unit tolerance into the field of programming and machining, enabling CNC programmers to maximize or nearly the maximum allowable feed rate. Programming a part under a specified cutting condition, such as cutting machine, speed, cutting Depth, material condition, etc., and specify a target computer numerical control tolerance. TW2931 PA/ HUR0126-2 ] 8 away, and the first line extends at a first point. extends to the second point and the third point Between ... / point. Determines the angle of change between the second lines of J t. If the first distance and / or the second distance is less than: ^ is greater than - angle limit. When the finishing smoothing process, and the angle of change - The other type—the form includes the '- motivational body adjustment path data/μ method consists of confirming the four consecutive paths of data! ^. The four points of the performance include the - point, the first point, the point. ~θ ”, first ",, 占, and _ fourth 疋疋 No second point applies to smoothing. If the _ point, slip processing, then 踮-^ that brother is suitable for flat and flute _,位置 The position of the first arc and the second arc, and the area. The first arc is determined by the second: the second arc between the arc lines is defined by the second and fourth points. Two points and the fourth point are defined. At least one arc movement related to the flute point. In the present invention: ^ off line shift A method X. The grammar, the form includes, adjusting the path data of a motivational body, and the X method includes confirming four consecutive points of the path data. ': Four points include - the first point, the second point , a third: point = four: point. The position of the first arc can be from the first point to the flute. The position of the first arc can be the area between the first point and the second second arc. #弧线The form of progress with the month of the month includes the road to Wan Ling, a kind of Fangle body with a path of data, the method includes confirming the confirmation of a line movement, the TW2931PA/HUR0126-21 1336822 line is one of the first points of the path data. Extending to a second point, the line movement is replaced by a first arc movement and a second arc movement. The first arc 耖-starts at the beginning of the first point and ends at a joint. The second arc movement then v „ begins at the joint and ends at the second point. • Yet another form of the invention includes a method for a motivational body processing path, such as a machine tool = the method includes A plurality of points are determined along a target's path, and at the last point, one of the tools is determined to be the maximum <allow stop distance. The tool's latest maximum <allow # · f speed at the last point can determine that the tool is available The maximum allowable stop distance is stopped. When at other points of these points, the tool's other maximum allowable speed < at the last point, the tool can be decelerated to the latest maximum allowable speed, degree. Another form includes a method for processing a path data for a machine tool, the method comprising confirming a plurality of points along a target tool path, and including establishing a maximum allowable distance between an actual tool path and a target tool path Degree of deviation. A number of positions along the target tool path, (- confirm the curvature of the target tool path, and every _ point along the target tool path On the 'determine tool's maximum allowable tolerance speed, where the maximum allowable tolerance speed depends on the maximum allowable deviation and curvature. On a final point, 'determine the tool to get a maximum allowable stopping distance. At the end At one point, the maximum allowable stopping speed of the tool determines that the tool can stop within the maximum allowable stopping distance. Except for the last point, one of the other maximum allowable stopping speeds of the tool at any point can establish that the tool can slow down at the last point. To the maximum allowable speed. Confirm the size, shape and other physical characteristics of the TW2931PA/HUR0126-21 14 1336822 workpiece at each point. Usually, in order to manufacture parts in a short period of time and dimensional tolerance constraints, a track pretreatment Step 104 includes the computer tool bed employing one of the target tool paths and the feed rate. When machining the part, the positional feedback specifying the actual position of the machine tool is used in a predictive and random error fill step 106 to correct the servo command and change the machine tool. Complement the direction. For example, with the specified tool path In comparison, two error-predictive or repeated errors and random or non-repetitive errors are modified in the actual machine path. In a final step 108, the corrected servo command is sent to the servo amplifier for use when starting the machine. FIG. 2 is a more detailed description of the method of FIG. 1. In general, steps 102 and 104 correspond to the queue management program operation of FIG. 2, and steps 106 and 108 correspond to the operation system of FIG. The part processing program places the discontinuous points on the surface of the part, and numerical control can be inserted between these discontinuous points, thus defining a target track or tool path formed by continuous lines and arcs. The term "arc" can mean a segment of a ring, that is, the arc has a certain radius. The quality of the data in the user part processing program is directly related to the quality of a machine tool cutting result. Inferior materials often result in a matte surface finish. The queue management operation preprocesses the part processing program motion data in four consecutive operations. The four consecutive operations convert the part processing motion data into high quality motion data before the operation of the operation system. The four operations are: tolerance understanding in the tolerance queue 202, data compression in the compression queue 204, smoothing of the data in the smoothing queue 206, and previewing the TW2931 PA/HUR0126-21 17 1336822 column. Addive pre-view within 208. The queue management program can execute the corresponding data processed on each of the series, and the data stream is continuously updated in a pipeline manner. The data processing includes tolerance tolerance operation on the tolerance column, data on the _converter column (4) operation, smoothing processing operation on the smoothing process, and preview operation on the preview column. The 模 模 纽 can preprocess the NC unit motion commands, such as position (G00), line (G01), arc (G〇2, G〇3), and the tolerance control of the CNC unit for tolerance control . The use of tolerance type control unit technology is in line with existing or traditional computer numerical control unit parts processing programs. This technology allows the operator to specify numerical control unit tolerance commands as well as existing CNC unit commands for execution. By inserting a new CNC unit tolerance command into the existing G code and M code part support program, the computer numerical control unit can specify different computer numerical control unit tolerance limits. The CNC unit tolerance command specifies a region, a tolerance for the region, and a command header. —The numerical control unit tolerance refers to a weight: E tol Xxl Yyl Zzl Xx2 Yy2 Zz2 lid An E code request consists of an oblique coordinate (xl, yl, zl) and (x2, y2, z2),
Xl<x2，yl<y2，zl<z2戶斤定義之一三維矩形地區保持w 之非零數控容限值。這特定之容限指令可以被一整數值μ 確認出。 複合之E碼定義重疊的容限地區是可能的。一個點可 以屬於許多活躍之數控單元容限地區。如此，位於該點上 之數控單元容限值定義為：涵蓋這—點之最新的_中指 TW2931PA/ HUR0126-21 18 1336822 ’定之容限值。 容限佇列202内之一容限繪圖操作中，容限值被分配 • 到工具路徑中的每一線條或是弧線。容限繪圖操作處理加 ：’工程式中所定義的可變容限區域，以及分配所需之容限到 ， 每一個運動。如圖3a中所顯示，具有不同值之容限地區 可能彼此重疊。三個區域302，304，和306有各自不同的 容限，分別為0.001英吋，0.0005英吋和0.0003英吋。因 為一個移動穿過多個容限地區，例如由P0到P1，所以該 ^ 移動分割成多個移動，亦即是，由P0到P1'、從ΡΓ到ΡΓ 以及從ΡΓ到pi，每一移動具有不同之容限值。於一零件 加工程式内之容限指令E碼可指定地區和零件加工中應用 ' 於該些地區之容限值。在零件加工程式裡的運動指令可以 是位在不同容限地區。容限理解可以根據編程的E碼確認 每一運動命令所要求之正確容限值。 ^ 在處理一容限指令之過程中，如果指令是一新的容限 規格，則在一容限圖表内可產生一空間以作為一新的項 .目。在容限圖表内，容限值在各別的容限地區表示出來。 然後由指令得到的容限規格可以填入新的項目中。最後， 新項目可以插入該容限圖表之起始處。因為來自指令的訊 . 息已儲存於容限圖表内，所以容限指令可以在處理之後摒 棄。 在處理一線條指令或一弧線指令時，指令所需之容限 值可以計算出並且附加到指令上。E碼可以指定不同的容 忍地區，並且數控程式之每一線條或是弧線可以屬於該容 TW2931 PA/ HUR0126-21 19 1336822 限地區中之一個或是多個容限地區。決定每一線條或弧線 所需之容限的演算法包括檢查線條或弧線上之樣本點的 容限。如果一線條或弧線位於一容限地區，樣本點將有相 同的容限，則此為者線條或弧線所需之容限。另一方面， 若是一線條或弧線穿過多於一個容限地區，則樣本點將有 不同的容限。如此一來，線條將基於樣本點分成片段，且 每一線條片段有一獨特所需的容限。同樣的，一弧線可以 透過不同的容限而分段，但不會被分隔開。因此，最嚴密 之的容限值可成為這弧線所需之容限。 一例行程序可用來決定一指定點所需要的容限。此程 序之操作如下：（1)將址定點的位置作為關鍵值；（2)由起 始處搜尋容限圖表中的E碼，而E碼之容限地區含蓋關鍵 值（也就是指定之點位於該容限地區内）；以及（3)分配E碼 中首先成為指定點所需容限之容限值。 若一個點屬於不同容限指令所指定之數個容限地 區，則最新的容限指令為控制指令。一新的容限指令經常 插入於容限圖表之起始處。因此，上述操作中，第一個E碼 為指定的點指明所需之容限的最新之E碼。 根據多種容限規格，另一例行程序可用來將一線條劃 分為段落。於一弧線之多種容限規格中，又另一例行程序 可用來決定最嚴密之容限。 於圖3b到圖3c說明具有不同值以及彼此重疊的容限 地區之另一實施例，圖3 b中描述一第一情況而圖3 c描 述一第二情況。在此實施例中，為了計算上的效率，一線 TW2931 PA/ HURO126-21 20 1336822 加入壓縮符列，或者是否只在點pO，p 1，p2和p3時執行 壓縮。四個壓縮標準如下： 測驗1 : | ρ4-ρ0<英对 測驗2 :對於ρ3，角Θ是介於-90度到90度之間。 須4驗 3 : pO.tol = pl.tol = p2.tol = p3.tol = p4.tol。亦艮p 是， 一相等容限已經由容限圖表分配到每一點。 測驗4 :由點p 1，p2以及點p3到線p0p4之垂直距離小於 指定容限。 若上述4個測驗符合標準，則點p4加入壓縮佇列。 若沒有符合上述4個測驗，則p3加入平滑處理佇列，並 且pi和p2被摒棄於壓縮内。實質上，三片段(pOpl，Plp2 和p2p3)結合成一片段(p0p3)。 資料平滑處理 當維持一指定之容限時，資料平滑處理操作將數控單 元線條資料轉變成弧線。資料平滑處理可造成較光滑的速 度和加速度、較佳地饋送速度、改善表面加工，以及容限 型控制單元真實弧線技術之充分利用。 以下提供不同平滑處理程度：第0級，包括沒有平滑 處理以及產生一切割多邊形；第1級當中，弧線取代線條， 而且大多數情況中，弧線不互相連接；第2級當中，弧線 取代線條，弧線間互相連接，並且多數情況下弧線間彼此 不正切；第3級當中，弧線取代線條，弧線互相連接並且 互相正切；以及第4級（本發明提供之平滑處理之程度）， TW2931 PA/ HUR0126-21 23 1336822 弧線取代線條，弧線間彼此連接以及正切，並且弧線之曲 率逐漸改變。準備平滑處理操作，修改平滑處理操作，雙 弧線平滑處理可藉由一管線方式於平滑處理佇列上同時 執行。 圖28a到圖28e分別描述第0級，第1級，第2級， 第3級和第四級平滑處理。在第0-3級平滑處理中，平滑 處理之輸出信息，也就是最後的軌道通常通過資料點。在 圖28d中，cl和rl為由ρ0點，pi和p2點定義的弧線之 C 中心和半徑；並且c2和r2為由p2點，p3和p4點定義之 弧線的中心和半徑。一弧線的曲率定義為半徑之倒數（1 / r)。因此，圖28d中的第3級，由rl到r2較大之半徑變化 相對地造成兩弧線之間一大的曲率變化。 調整資料點以使曲率逐漸變化的觀念上，第4級不同 於其它的平滑處理程度（在指定之容限内）。因為調整很小 (代表性為小於0.0005英吋），而且在一指定的容限内，所 以調整資料點在應用上是可接受的，例如多軸等高線（或者 1 使用電腦數控單元機器操作金屬切割）。 點可以做方向上或者大小上的調整，因此曲率逐漸變 化而使執道接近於橢圓形。沿著軌道逐漸變化的曲率有利 於運動控制。曲率逐漸變化之特性為：沿著軌道的每個點 之曲率變化，或者至少可能之變化。如圖28e中所示，西 率半徑沿著執道從p0到p4不斷遞減，亦即是，半徑隨著 涪著轨Ifl每—個—點|得_更小如—圖一2"8(1—f所示一，一柑反地—， 當軌道通過點p2時，曲率半徑大幅度下降。然而，第4 T W2931 PA/ HUR0126-21 24 1336822 之中間那一點，即是，如果以下三種條件或是標準都能符 合的話，則pl點可標記為適於平滑處理： • 測試1 : pOpl和plp2都為線條。 ：^ 測試 2 : Max{dl，d2 } <0。0005 英吋，亦即是，dl 和 、 d2小於大約介於0。0002到0。001英吋之間之一些預定 距離，例如0。0005英对。 測試3 :角度0>145度或者大約介於130度到160度 之間之一些其它預定角度。 如果沒有符合以上三個條件，則pl點不會標記為適於平 滑處理。 如同上述關於圖5b描述的，圖18描述本發明之一 • 方法1800。於一第一步驟1802中確認一資料路徑之三個 ^ 連續點。例如，確認p0，pl和p2三個點。在步驟18〇4 中確認介於一第一點和一第二點間之一第一線條距離和/ 或介於一第二點和一第三間之一第二線條距離。尤其，是 確認介於p〇和pl兩點之間之一第一線條距離518以及介 於pl和p2兩點之間之一第二線條距離520。於一下一步 驟1806中決定介於延伸於第一點和第二點間與延伸於第 二點和第三點之間的一個變化角度。圖5 b中所示，於延 伸於點p0和p 1間之線條與延伸於點ρ 1和ρ2間之線條之 間確定一個變化角度Θ。如步驟1808、1810以及1812所 示，若是第一線條距離以及/或是第二線條距離小於一閾限 線條距離，則平滑處理則於第二點上執行，而且變化角大 於一閾限變化角。也就是說，若是第一線條距離518以及 TW2931 PA/ HUR0126-21 29 336822 /或是第二線條距離520小於一閾限線條距離，則平滑處理 可於第一點上執行，並且變化角0大於一閾限變化角。此 外，步驟1802中確認資料路徑之另外三個連續資料點，' 例如，可確認連續之三點pi，p2與隨後的p3(圖中並未顯· 示）。 為平滑處理之調整 在一第二操作過程中，為平滑處理而調整線條資料。 籲 第二操作可降低一三維曲線上之曲率變化，三維曲線由一 連串之三維的點呈現。於這樣的一曲線中之一指定點之局 部曲率，主要取決於相鄰的點。指定點或鄰近點的位置之 · 較小變化可顯著改變局部曲率。因此在指定容限内可能可 . 以修改點的位置，所以修改後的點所呈現的三維曲線上之 曲率變化將減少。曲線上的曲率變化越小，曲線就越光滑。 該第二操作可能包括：連續檢查在第一操作之平滑處 理佇列206中已處理過之一群四個連續線條目標點，以及 籲 調整中間點的位置以修改局部曲率。使p!，P2，P3和P4 成為第一操作之平滑處理佇列206處理中之四個連續線條 目標點。假設P2和P3兩點都標訂為“平滑處理”，則這兩 個中點將稍微移動。如圖6中所示之調整點位置之演算法 可包括下列步驟：（1)創造通過點pl，p3和p4之一弧線 ARC134; (2)創造通過點 pi，p2 和 p4 之一弧線 ARC124; (3) 移動點p2朝向弧線ARC134的方向，並且保持移動距離於 TW2931PA/ HUR0126-21 30 1336822 規定的容限内；以及（4)移動點p3朝向弧線ARC124的方 向，並且保持移動距離於規定的容限内。 ‘ 繼續調整四個連續點的群組之位置。 ：w 在調整一組之後處理後續的一組，這一組包括最後三 . 個點之連組以及一下一線條要素之一新的目標點。在平滑 處理佇列206中移動第二操作處理的線條要素之目標點 (在指定之容限範圍内），因而這些點上的曲率變化更加平 滑，亦即是，與第二操作中之改變相比，這些點的曲率變 ♦'化較不劇烈。 步驟212包括調整線條移動以進行平滑處理。互相關 聯之線條移動調整用以控制路徑曲率以及為弧線配置作 • 準備。圖6a描述兩建構弧線602，604之定位，分別通過 點PoPJs和點PGP2P3,。點P!和點P2都移入介於建構弧 線602和弧線604之間的一地區。移動點P1和P2使其更 靠近彼此，因此點P2移動到大約在建構弧線602和弧線 604之中間，而移動點P1被移動到更接近建構弧線604。 ® 也就是說，點P1可不會被移動遠到建構弧線602和弧線 604間之中間，相反地，點P1可被移動至對面於建構弧線 604少於兩弧線間距離之一半的距離。尤其，點P1之一移 動距離等於0到0.5間乘上間隔S1之一因數，且介於P1 點和對面於建構604弧線之間。該因數可能少於0.45。如 圖6a所示之實施例中，因數係大約在0.18到0.20之間， 這因數可提供有利結果已經被數學上所確立。 TW2931 PA/ HUR0126-21 31 1336822 第7圖繪示一實施例中點pi和p2移動更精確的方向 與距離之放大圖。一線條702穿過點p2並且與於p2點上 與弧線604正切。一間隔S2被點P2和弧線602界定垂直 於線條702。點P2可能被移動一距離等於0.45到0。55 間乘上間隔S2之一因數，且其方向垂直線條702。如圖 6a和圖7之實施ί'列中所不，因數大約為0.50。相问的， 一線條704穿過點P1並且於點pi上與弧線602正切。一 間隔S1被點pi和弧線604界定垂直於線條704。點P1 G 之一移動距離大約是0.19乘上間隔S1所得之數值，且與 線條704垂直。 該過程可以於編程路徑中對每個依次連續之移動進 行重複。圖8中描述，確認一下一個點P4之後的一重複 過程。兩建構弧線802和804被定義於分別穿過點PJ2P4 和P1P3P4,。然後，點P2和P3分別以因數0.19和0.50移 動，點？2和P3之移動實質上與點Pi* P2移動（圖6a和圖 7)方式相同。 ('參照圖6b，其說明本發明另一實施例之為平滑處理 之調整線條運動。線條移動可能相互之間被調整以控制該 路徑曲率以及為弧線配置作準備。非共面之兩建構弧線 612和614定位於分別通過點PoPJs和PGP2P3。弧線612 和614兩平面所交叉的一條線條稱為616。由弧線612界 定之環狀物之中心稱為c2;並且弧線614所界定之一環狀 物之中心稱為cl。點pi在弧線614平面上的投射稱為點 ql，亦即是，延伸通過兩個點pi和ql之一線條與弧線614 TW2931PA/ HUR0126-21 32 叫6822 條移動或是一弧線移動。再者，Arc2可能與一後 緊接的移動906正切，該移動906開始於點！^、。後繼之 移動906可以是一線條移動或者一弧線移動，並且可於緊 接點P2之調整位置決定之後被界定（圖9中並未顯示）。介 於所有程式移動之平滑處理轉變因此成為可能。在一實施 例中，Arcl的半徑908不同於八⑽的半徑91〇。 半徑 908和半徑910只部分顯示於圖9中。資料平滑處理實& ^使得工具路徑内突然的變化或是中斷變得平滑，因=可 &供一種更平滑之工具運動。 如同本發明上述關於圖9中所述，圖2〇說明本發明 =—方法2_。H驟2〇()2，相由—f料路徑之 第—點延伸到該資料路徑之1二點之—線條移動。例 如，由點P0延伸到點P1之線條移動9〇2可以被確切、。第 〜第二步驟議4中’線條移動由—第—弧線移動和〜一第 I弧線移動所取代’該第1、緣移動開始於該第—點並结 =於-接合點’該第二弧線移勤開始於該接合點並且欲止 =第二點。如圖9所示’線條移動艱被孤 、 和W所取代，Arcl開始於點p〇並且結束 ， 而Arc2開始於P，並且結束於點。 ··‘ P 雙弧線平今盍理 一第三操作中，平滑處理辑 行。當轉-駭的容限時，肖 肖异法執 變為弧線，該線條與弧線間妓此一呆1匕將線條轉 双此正切。該第三操作可以包 TW2931 PA/ HUR0126-21 37 1336822 括依次檢查平滑處理佇列206中第二操作處理過之連續線 條目標點，以及將線條轉換為弧線之執行工作。 雙弧線演算法之形成是為了該第三個操作，該演算法 使得該最終平滑處理軌道能通過被平滑處理線段段落之 所有目標點，因此，將會符合容限條件。 雙弧線演算法可一導管方式同時執行兩個函數。首 先，算法可以在一被平滑處理線段段落之每個目標點決定 一正切向量。其次，該演算法可以產生雙弧線以取代該被 平滑處理之線段段落。使pi，p3，p2，p4，p5，p6，...， pn為連續線段目標點，該連續線段目標點已經於該第二操 作之平滑處理佇列中處理，該第一函數可以執行下列步 驟： •若是pi，pi-1或是pi+1被標記為“適於平滑處理”， 則基於點pi-1，pi和pi+1之位置計算於pi點上之一 預期正切向量ti (圖29)。該三個點pi-1，pi和pi+1 界定該弧線Arcpi-lpipi+1，以及ti為於點pi對於該 弧線之正切向量； •若是點pi，pi+Ι，pi-Ι中沒有一點被標記為“適於平滑 處理”，則無任何動作被執行。 •以1增加i的值 - i/tr y 、L、 «l·· trew • 里後工迎夕_ 上述函數將於該被平滑處理之線條片段之該目標點 創造一連續的預期正切向量，記作11，t2，t3，t4，t5，t6，...， tn。該正切向量可被稱為“預期的正切向量”，因為這些向 TW2931PAJ HUR0126-21 38 1336822 量的方向是逐漸變化的，這也更進一步平滑處理該平滑處 理後執道之曲率變化。 第二函數可能執行下列步驟： •檢查點pi和pi+l以查看已經計算過之該相對應預期 正切向量ti和ti+Ι是否適合pi和pi+1 •如果正切向量ti和ti+1都有效，則創造一對三維弧線 ail和ai2，因此： • ai 1於點pi開始並且與該正切向量ti成正切Xl<x2,yl<y2,zl<z2 is a non-zero numerical control tolerance for one of the three-dimensional rectangular regions. This particular tolerance command can be confirmed by an integer value μ. It is possible that the composite E code defines overlapping tolerance areas. One point can belong to many active CNC unit tolerance areas. Thus, the numerical control unit tolerance value at this point is defined as: the latest _ middle finger TW2931PA/HUR0126-21 18 1336822's tolerance value covering this point. In a tolerance drawing operation within the tolerance queue 202, the tolerance value is assigned to each line or arc in the tool path. The tolerance drawing operation handles the variable tolerance area defined in the :' engineering formula, and assigns the required tolerance to each movement. As shown in Figure 3a, tolerance areas with different values may overlap each other. The three zones 302, 304, and 306 have respective tolerances of 0.001 inches, 0.0005 inches, and 0.0003 inches, respectively. Since one moves through multiple tolerance areas, for example, from P0 to P1, the ^ movement is split into multiple movements, that is, from P0 to P1', from ΡΓ to ΡΓ, and from ΡΓ to pi, each movement has Different tolerance limits. The tolerance command E code in a part program can be used to specify the tolerance values for these areas in the area and part processing. The motion commands in the part program can be in different tolerance areas. The tolerance understanding can confirm the correct tolerance value required for each motion command based on the programmed E code. ^ In the process of processing a tolerance command, if the instruction is a new tolerance specification, a space can be created in a tolerance chart as a new item. Within the tolerance chart, the tolerance values are indicated in the respective tolerance areas. The tolerance specifications obtained by the instruction can then be filled in the new project. Finally, a new project can be inserted at the beginning of the tolerance chart. Since the message from the instruction is stored in the tolerance chart, the tolerance instruction can be discarded after processing. When processing a line command or an arc command, the tolerance value required for the command can be calculated and attached to the command. The E code can specify different tolerance areas, and each line or arc of the NC program can belong to one or more tolerance areas of the TW2931 PA/ HUR0126-21 19 1336822 area. The algorithm that determines the tolerance required for each line or arc involves checking the tolerance of the sample points on the line or arc. If a line or arc is in a tolerant area and the sample points will have the same tolerance, then this is the tolerance required for the line or arc. On the other hand, if a line or arc passes through more than one tolerance area, the sample points will have different tolerances. In this way, the lines will be segmented based on the sample points, and each line segment has a unique tolerance. Similarly, an arc can be segmented through different tolerances, but will not be separated. Therefore, the most stringent tolerance value can be the tolerance required for this arc. A line program can be used to determine the tolerance required for a given point. The operation of this program is as follows: (1) the position of the fixed point is taken as the key value; (2) the E code in the tolerance chart is searched from the beginning, and the tolerance area of the E code contains the key value (that is, the specified value) The point is within the tolerance area; and (3) the tolerance value of the required tolerance in the assigned E code first becomes the specified point. If a point belongs to several tolerance areas specified by different tolerance instructions, the latest tolerance instruction is the control instruction. A new tolerance command is often inserted at the beginning of the tolerance chart. Therefore, in the above operation, the first E code indicates the latest E code of the required tolerance for the specified point. Another routine can be used to divide a line into paragraphs according to various tolerance specifications. In the various tolerance specifications of an arc, another routine can be used to determine the most stringent tolerance. Another embodiment of a tolerance region having different values and overlapping each other is illustrated in Figures 3b through 3c, a first case is depicted in Figure 3b and a second case is depicted in Figure 3c. In this embodiment, for computational efficiency, the first line TW2931 PA/HURO126-21 20 1336822 is added to the compression train, or whether compression is performed only at points pO, p 1, p2 and p3. The four compression criteria are as follows: Quiz 1: : ρ4-ρ0<English vs. Test 2: For ρ3, the angle Θ is between -90 and 90 degrees. 4 test 3: pO.tol = pl.tol = p2.tol = p3.tol = p4.tol. Also p is that an equal tolerance has been assigned to each point by the tolerance chart. Quiz 4: The vertical distance from point p 1, p2 and point p3 to line p0p4 is less than the specified tolerance. If the above four tests meet the criteria, point p4 is added to the compression queue. If the above four tests are not met, p3 is added to the smoothing queue, and pi and p2 are discarded in the compression. Essentially, the three fragments (pOpl, Plp2 and p2p3) combine to form a fragment (p0p3). Data Smoothing When the specified tolerance is maintained, the data smoothing operation converts the NC unit line data into an arc. Data smoothing can result in smoother speeds and accelerations, better feed speeds, improved surface finishes, and full utilization of the true arc technology of the tolerance control unit. The following provides different levels of smoothing: Level 0, including no smoothing and producing a cut polygon; in the first level, the arc replaces the line, and in most cases, the arcs are not connected to each other; in the second level, the arc replaces the line, The arcs are connected to each other, and in most cases the arcs are not tangent to each other; in the third stage, the arcs replace the lines, the arcs are connected to each other and tangent to each other; and the fourth level (the degree of smoothing provided by the present invention), TW2931 PA/ HUR0126 -21 23 1336822 The arc replaces the line, the arcs are connected to each other and tangent, and the curvature of the arc gradually changes. The smoothing operation is prepared, and the smoothing operation is modified. The double arc smoothing can be performed simultaneously on the smoothing queue by a pipeline method. Figures 28a through 28e depict level 0, level 1, level 2, level 3 and level 4 smoothing, respectively. In the 0-3th level smoothing process, the smoothed output information, that is, the last track usually passes through the data points. In Fig. 28d, cl and rl are the C center and radius of the arc defined by points ρ0, pi and p2; and c2 and r2 are the centers and radii of the arc defined by points p2, p3 and p4. The curvature of an arc is defined as the reciprocal of the radius (1 / r). Therefore, in the third stage of Fig. 28d, the larger radius change from rl to r2 relatively causes a large curvature change between the two arcs. The concept of adjusting the data points to gradually change the curvature is different from the other levels of smoothing (within the specified tolerance). Because the adjustment is small (representatively less than 0.0005 inches) and within a specified tolerance, it is acceptable to adjust the data points, such as multi-axis contours (or 1 using a CNC unit to operate the metal cutting) ). The point can be adjusted in direction or size, so the curvature gradually changes to make the obsession close to the ellipse. The gradually varying curvature along the track facilitates motion control. The gradual change in curvature is characterized by a change in curvature along each point of the orbit, or at least a possible change. As shown in Fig. 28e, the west rate radius is continuously decreasing from p0 to p4 along the obedience, that is, the radius is smaller with the trajectory Ifl every point - point _ as shown in Fig. 1 &2; 1 - f shows one, one citrus is anti-ground - when the orbit passes through point p2, the radius of curvature drops significantly. However, the middle point of the 4th T W2931 PA / HUR0126-21 24 1336822, that is, if the following three If the conditions or criteria are met, the pl point can be marked as suitable for smoothing: • Test 1: Both pOpl and plp2 are lines. :^ Test 2: Max{dl,d2 } <0.0005 English, That is, dl and d2 are less than about a predetermined distance between 0. 0002 and 0. 001 inches, for example, 0. 0005. Test 3: Angle 0 gt; 145 degrees or approximately 130 degrees to Some other predetermined angle between 160 degrees. If none of the above three conditions are met, the pl point will not be marked as suitable for smoothing. As described above with respect to Figure 5b, Figure 18 depicts one of the methods of the present invention. A first step 1802 identifies three consecutive points of a data path. For example, confirm p0, pl, and p2 In step 18〇4, confirm a first line distance between a first point and a second point and/or a second line distance between a second point and a third point. Is to confirm a first line distance 518 between two points p 〇 and pl and a second line distance 520 between two points pl and p2. In the next step 1806, the decision extends between a change angle between the point and the second point and extending between the second point and the third point. As shown in Fig. 5b, the line extending between the points p0 and p1 extends to the points ρ 1 and ρ2 A change angle 确定 is determined between the lines between the lines. As shown in steps 1808, 1810, and 1812, if the first line distance and/or the second line distance is less than a threshold line distance, the smoothing process is performed at the second point. Execution, and the angle of change is greater than a threshold change angle. That is, if the first line distance 518 and TW2931 PA / HUR0126-21 29 336822 / or the second line distance 520 is less than a threshold line distance, the smoothing process can be Executed at the first point, and the angle of change 0 is greater than a threshold change angle. In addition, in step 1802, the other three consecutive data points of the data path are confirmed, 'for example, three consecutive points pi, p2 and subsequent p3 can be confirmed (not shown in the figure). During the second operation, the line data is adjusted for smoothing. The second operation reduces the curvature change on a three-dimensional curve, and the three-dimensional curve is represented by a series of three-dimensional points. One of such a curve specifies the local curvature of the point. , mainly depends on the adjacent points. A small change in the position of a specified point or adjacent point can significantly change the local curvature. Therefore, it may be possible to specify the tolerance. The position of the point is modified, so the curvature change on the three-dimensional curve presented by the modified point will be reduced. The smaller the curvature change on the curve, the smoother the curve. The second operation may include continuously checking a group of four consecutive line target points that have been processed in the smoothing process 206 of the first operation, and urging the position of the intermediate point to modify the local curvature. Let p!, P2, P3, and P4 be the four consecutive line target points in the smoothing process 206 of the first operation. Assuming that both P2 and P3 are labeled as "smoothing", the two midpoints will move slightly. The algorithm for adjusting the position of the point as shown in FIG. 6 may include the following steps: (1) creating an arc ARC 134 through points pl, p3 and p4; (2) creating an arc ARC 124 through points pi, p2 and p4; (3) moving the point p2 toward the direction of the arc ARC 134 and keeping the moving distance within the tolerance specified by TW2931PA/HUR0126-21 30 1336822; and (4) moving the point p3 toward the direction of the arc ARC 124 and keeping the moving distance at a prescribed distance Within tolerance. ‘ Continue to adjust the position of the group of four consecutive points. :w Processes the subsequent set after adjusting a group, this group consists of the last three points and the new target point of one of the next line elements. Moving the target points of the line elements of the second operation processing (within the specified tolerance range) in the smoothing processing queue 206, so that the curvature changes at these points are smoother, that is, compared with the change in the second operation In comparison, the curvature of these points becomes less intense. Step 212 includes adjusting the line movement for smoothing. Cross-correlation The line movement adjustment is used to control the curvature of the path and to prepare for the arc configuration. Figure 6a depicts the positioning of the two construction arcs 602, 604, passing point PoPJs and point PGP2P3, respectively. Both point P! and point P2 are moved into an area between the construction arc 602 and the arc 604. The points P1 and P2 are moved closer to each other, so the point P2 is moved to approximately between the construction arc 602 and the arc 604, and the movement point P1 is moved closer to the construction arc 604. That is, the point P1 may not be moved as far as the middle between the construction arc 602 and the arc 604, and conversely, the point P1 may be moved to a distance opposite the construction arc 604 by less than one-half the distance between the two arcs. In particular, one of the points P1 has a moving distance equal to a factor of 0 to 0.5 times the interval S1 and is between the point P1 and the opposite 604 arc. This factor may be less than 0.45. In the embodiment shown in Figure 6a, the factor is between about 0.18 and 0.20. This factor provides a favorable result that has been mathematically established. TW2931 PA/ HUR0126-21 31 1336822 Fig. 7 is an enlarged view showing a more precise direction and distance of movement of points pi and p2 in an embodiment. A line 702 passes through point p2 and is tangent to arc 604 at point p2. An interval S2 is defined by the point P2 and the arc 602 perpendicular to the line 702. Point P2 may be moved by a distance equal to 0.45 to 0. 55 multiplied by a factor of interval S2, and its direction is perpendicular to line 702. As shown in the implementation of Figure 6a and Figure 7, the factor is approximately 0.50. As a result, a line 704 passes through point P1 and is tangent to arc 602 at point pi. An interval S1 is defined by the point pi and the arc 604 perpendicular to the line 704. The moving distance of one of the points P1 G is approximately 0.19 times the value obtained by the interval S1 and is perpendicular to the line 704. This process can be repeated for each successive movement in the programmed path. As described in Fig. 8, a repetition process after a point P4 is confirmed. Two construction arcs 802 and 804 are defined to pass through points PJ2P4 and P1P3P4, respectively. Then, points P2 and P3 are moved by factors of 0.19 and 0.50, respectively. The movement of 2 and P3 is substantially the same as the movement of point Pi* P2 (Fig. 6a and Fig. 7). ('Refer to Figure 6b, which illustrates another embodiment of the present invention for smoothing the adjusted line motion. The line movements may be adjusted to each other to control the curvature of the path and prepare for the arc configuration. Two non-coplanar construction arcs 612 and 614 are positioned to pass through points PoPJs and PGP2P3, respectively. A line intersecting the two planes of arcs 612 and 614 is referred to as 616. The center of the annulus defined by arc 612 is referred to as c2; and one of the arcs defined by arc 614 is annular The center of the object is called cl. The projection of the point pi on the plane of the arc 614 is called the point ql, that is, the line extending through the two points pi and ql and the arc 614 TW2931PA/ HUR0126-21 32 is called 6822 to move or It is an arc movement. Furthermore, Arc2 may be tangent to a subsequent movement 906, which starts at point !^. The subsequent movement 906 may be a line movement or an arc movement, and may be in the immediate vicinity. The adjustment position of P2 is determined afterwards (not shown in Figure 9). Smoothing transitions between all program moves are thus made possible. In one embodiment, Arcl's radius 908 is different from eight (10) radius 91〇. Radius 908 and radius 910 are only partially shown in Figure 9. The data smoothing process & ^ makes the sudden change or interruption in the tool path smooth, because = can & for a smoother tool motion. As described above with respect to FIG. 9, FIG. 2A illustrates the present invention = - method 2_. H is 2 〇 () 2, the phase extends from the - point of the -f material path to the point 2 of the data path - line movement For example, the movement of the line from the point P0 to the point P1 by 9〇2 can be determined. The second step 4 of the 'movement of the line is replaced by the -the-arc movement and the ~I-arc movement' 1. The edge movement starts at the first point and the knot = the - joint point. The second arc shift starts at the joint and stops = the second point. As shown in Fig. 9, the line moves hard, and Replaced by W, Arcl starts at point p〇 and ends, and Arc2 starts at P and ends at point. ··' P Double arcs are processed in a third operation, smoothing the series. When turning - 骇When the tolerance is reached, Xiao Xiao's different method is changed into an arc, and the line and the arc are separated by one. This tangential cut can be performed by the TW2931 PA/HUR0126-21 37 1336822, which in turn checks the continuous line target points processed by the second operation in the smoothing queue 206 and the execution of converting the lines into arcs. The algorithm is formed for this third operation, which allows the final smoothing track to pass through all the target points of the segment being smoothed, and therefore will meet the tolerance condition. The double arc algorithm can be a catheter Two functions are executed simultaneously. First, the algorithm can determine a tangent vector at each target point of the smoothed line segment. Second, the algorithm can generate double arcs to replace the smoothed segments. Let pi, p3, p2, p4, p5, p6, ..., pn be continuous line segment target points, the continuous line segment target points have been processed in the smoothing processing column of the second operation, the first function can perform the following Steps: • If pi, pi-1 or pi+1 is marked as "suitable for smoothing", calculate the expected tangent vector ti at the pi point based on the positions of points pi-1, pi and pi+1 ( Figure 29). The three points pi-1, pi and pi+1 define the arc Arcpi-lpipi+1, and ti is the tangent vector of the arc for the point pi; • if the point pi, pi+Ι, pi-Ι does not have a point Marked as "suitable for smoothing", no action is performed. • Increase the value of i by 1 - i/tr y , L, «l·· trew • In the future, the above function will create a continuous expected tangent vector at the target point of the smoothed line segment. Recorded as 11, t2, t3, t4, t5, t6, ..., tn. This tangent vector can be referred to as the "expected tangent vector" because these directions are gradually changed toward the TW2931PAJ HUR0126-21 38 1336822, which further smoothes the curvature change after the smoothing process. The second function may perform the following steps: • Check points pi and pi+l to see if the corresponding expected tangent vectors ti and ti+Ι have been calculated for pi and pi+1 • If the tangent vectors ti and ti+1 are both Effective, creates a pair of three-dimensional arcs ail and ai2, so: • ai 1 starts at point pi and is tangent to the tangent vector ti
• ai 1與ai2在介於pi和pi+1間的一點p成正切 • ai2於點p開始且結束於點pi+1，並且與正切向量 ti+Ι正切 •若正切向量ti之任一個以及ti+Ι無效，不作任何動作 •以1增加i的值 •重複上述步驟 另一實施例中，該第二函數可以執行下列步驟： •如果pi，pi+Ι和pi+2被標記為適於平滑處理，且該 對應的預期正切向量ti ’ ti+Ι和ti+2以被計算適用於 pi，pi+1和pi+2，然後創造一對三維的孤線ai 1和ai2， 因此： • ail於點pi開始並且與該正切向量ti成正切 TW2931 PA/ HURO126-21 39 1336822 • ail與ai2在介於pi和pi+2間的一點p'成正切 • ai2於點p'開始且結束於點pi+2，並且與正切向量 ti+2正切。 •檢查pi+Ι與最接近弧線間之最短距離(d)，若是該距· 離在一指定的容限内，則該雙弧線為有效的。 e若是位於pi與pi+2之間之該雙戴線無效，則於pi和 pi+1之間創造一對三維弧線ai 1和ai2，因此： • ai 1於點pi開始並且與該正切向量ti成正切 • ail與ai2在介於pi和pi+Ι間的一點p'成正切 • ai2於點p'開始且結束於點pi+1，並且與正切向量 ti+Ι正切。 •重複上述步驟以產生介於pi+l，pl+2之間的雙弧 •以2增加i的值 •重複上述步驟 如上所述之實施例之該第二函數之操作於圖30和圖 31中描述。圖30中，p0，pi和p2被標記為適於平滑處 理。一對三維弧線al和a2產生，因此弧線al由點p0開 始並且與正切向量t0正切；弧線al在介於點p0和p2間 之點P’與弧線a2正切；弧線a2於點p'開始，且結束於點 p2結束，並且與該正切向量t2正切。若介於pi和兩弧線 丫孕父现的、银a 1间i 一距離α社--相定或定頂疋的谷 限内，則雙弧線al和a2是有效的。 另一方面，若是該雙弧線al，a2無效，亦即是，該 距離不在指定的容限内，則另一對三維弧線a3，a4(圖31) TW2931 PA/ HURO126-21 40 1336822 產生，如此，弧線a3開始於點pO，並且與正切向量tO正 切；弧線a3於介於點pO和pi之間之一點p'與弧線a4正 切；而且弧線a4開始於點ρπ，結束於點pi，並且與該正 切向量tl正切。上述步驟可以複製，以產生介於點pi和 點p2之再另一對三維弧線（圖中沒有顯示）。全部弧線al， a2，a3，a4中之任一個可能為環形弧線，並且每一個弧線 可能都有各自不同的半徑。 由於雙弧線於點P〇，P1和p2之間以此方式完成平 滑處理，上述之第二函數可以對下一組三個點重複，也就 是點p2，p3和p4。另外，第二函數可以對沿著軌道之三 個點之每一連續組重複。 上述雙弧線平滑處理之實施例應用於點p〇，P1和p2 之每一點標記為適於平滑處理的情況。目前假設此四個點 pO，p2，pi和p3之中的pi，p2，和p3被標記為適於平 滑處理。切線向量tO和tl可以來自於pO，pi和p2所界 定之該弧線。可以採去下列五個步驟： -• ai 1 and ai2 are tangent at a point p between pi and pi+1 • ai2 starts at point p and ends at point pi+1, and tangent to tangent vector ti+Ι • if tangent vector ti and Ti+Ι is invalid, no action is taken • Increase the value of i by 1 • Repeat the above steps. In another embodiment, the second function can perform the following steps: • If pi, pi+Ι and pi+2 are marked as suitable Smoothing, and the corresponding expected tangent vectors ti 'ti+Ι and ti+2 are calculated for pi, pi+1 and pi+2, and then create a pair of three-dimensional singular lines ai 1 and ai2, thus: Ail starts at point pi and is tangent to the tangent vector ti. TW2931 PA/ HURO126-21 39 1336822 • ail and ai2 are tangent at a point p' between pi and pi+2 • ai2 begins at point p' and ends at Point pi+2 and tangent to the tangent vector ti+2. • Check the shortest distance (d) between pi+Ι and the nearest arc. If the distance is within a specified tolerance, the double arc is valid. If the double thread between pi and pi+2 is invalid, create a pair of three-dimensional arcs ai 1 and ai2 between pi and pi+1, thus: • ai 1 starts at point pi and is associated with the tangent vector Ti is tangent • ail and ai2 are tangent at a point p' between pi and pi+Ι • ai2 begins at point p' and ends at point pi+1, and is tangent to the tangent vector ti+Ι. • Repeat the above steps to produce a double arc between pi+1, pl+2 • increase the value of i by 2 • repeat the above steps. The operation of the second function of the embodiment as described above is shown in Figures 30 and 31. Described in. In Fig. 30, p0, pi and p2 are marked as being suitable for smoothing processing. A pair of three-dimensional arcs a1 and a2 are generated, so the arc a1 starts from the point p0 and is tangent to the tangent vector t0; the arc a1 is tangent to the arc a2 between the points p0 and p2; the arc a2 starts at the point p', And it ends at point p2 and is tangent to the tangent vector t2. The double arcs a1 and a2 are valid if there is a pi between the pi and the two arcs, the ratio of the silver a 1 to the distance α or the fixed or fixed top. On the other hand, if the double arc a1, a2 is invalid, that is, the distance is not within the specified tolerance, another pair of three-dimensional arcs a3, a4 (Fig. 31) TW2931 PA/HURO126-21 40 1336822 are generated, The arc a3 starts at the point pO and is tangent to the tangent vector tO; the arc a3 is tangent to the arc a4 at a point p' between the points pO and pi; and the arc a4 starts at the point ρπ, ends at the point pi, and The tangent vector tl is tangent. The above steps can be duplicated to produce another pair of three-dimensional arcs (not shown) between point pi and point p2. Any of the arcs al, a2, a3, a4 may be a circular arc, and each arc may have a different radius. Since the double arc is at point P〇, P1 and p2 are smoothed in this way, and the second function described above can be repeated for the next three points, namely points p2, p3 and p4. Alternatively, the second function can be repeated for each successive group of three points along the track. The above embodiment of the double arc smoothing process is applied to the point p 〇, and each of P1 and p2 is marked as being suitable for smoothing processing. It is currently assumed that pi, p2, and p3 among the four points pO, p2, pi, and p3 are marked as suitable for smoothing. The tangent vectors tO and tl may be derived from the arc defined by pO, pi and p2. The following five steps can be taken: -
1. 雙弧線可以從(p2，pO，tO，t2)產生，如圖30所示， 即是由p〇到P'5之弧線al以及從p'到p2 '之弧線a2於點 p'是正切的。 2. 在pi和兩雙弧線中之較近者之間的最短的距離可 能被檢查。若在x，y和z方向之距離少於一預定距離， 例如0.0002英吋，則雙弧線al和a2是有效的。 TW2931 PA/ HUR0126-21 41 1336822 3. 如果雙弧線al和a2是無效的，則雙弧線a3和a4 在點pO和p 1之間產生，並且以正切向量tO，tl為基礎。 兩弧線al和a2可能在點p”是正切的。 4. 可能有對於雙弧線之容限檢查。圖31中之的一距 離d為介於點ρπ與延伸於點pO和pi間一線條之間之一 最短距離=若是距離ci小於一預定距離，例如0.0 0 0 5英付， 那麼雙弧線a3和a4為有效的。除此之外，若是雙弧線a3 和a4是無效的，則介於點pO和p 1之間定義該軌道為一 延伸於點p〇和p 1之間之一線條。 5. 重複步驟3和步驟4,基於正切向量tl和t2於pi 和p2之間產生一雙弧線。 雙弧線演算法以一對三維弧線取代一線條片段。由該 雙弧線產生之相鄰弧線可能彼此正切，而且所有弧線可能 已降低曲率變化。雙弧線演算法可能特別適合於與容限型 控制單元一起使用，許多優勢因此產生。首先，對於大部 分三維表面和曲線，該曲率經常改變。與較長之弧線享 比，相互正切較短的弧線提供較佳以及較近似平滑。其 次，對於5個或者6個軸之機器加工，短的三維XYZ弧 線可與ABC轴空間内之點對點移動互相協調。此一顯著 的優勢是因為難以延伸非容限型控制單元長弧線三維平 滑處理到五或六轴機器加工。第三，所有該三維弧線指令 將經由使用實際弧線技術而以容限型控制單元直接執 行，此為沿著實際弧線軌道控制運動而沒有多角形近似 TW2931PA/ HUR0126-21 42 加成性預看演算法可能需要考慮到不同部份幾何學 之最大速度的知識。一容限/弧線半徑/速度圖表可能為此 目的而建立。對不同半徑或是曲率的弧線，該圖表可以使 最大可允許速度具有不同容限條件。 加成性預看函數可能檢查預看仔列208之前端之每 一個剛到達之運動指令，以及於下列步驟中，為先前的指 令計算停止距離： •將先别的指令與該先前指令之後的指令作比較，以得 到一介於這兩個指令之間的一個·角度或是曲率，並且 使用這個角度決定該最大連接點之速度，這速度為兩 連續運動指令之接點上之可允許最大速度。 •查詢容限/弧線半徑/速度圖表。根據運動執道和要求 之容限’為先前指令之運動軌道決定最大可允許轨道 速度。 •藉由取出較小之最大連接點的速度和最大的軌道速 度，對先前指令計算出停止距離，並且根據s型曲線 速度分佈圖將較更小的速度換算成停止距離。 •將計算出之停止距離附加在先前的指令上。 預看法是一個動態的過程。連續轨道變化可能影響以 前處理過的命令。每次當一新指令被增加至預看佇列 208 ’以及對一新的指令計算出一停止距離時，所有佇列 士的已經處理過的指令可能再度被檢查，以決定該先前計 算出之停止距離是否需要更新。-新移動被處理以及被置 TW2931PA/ HUR0126-21 45 1336822 於一預看佇列208之後，所有佇列208中先前的移動可能 再度被檢查，而且，若有需要，.它們的速度可能被往下調 整。此最後之預處理操作類似於一曲線之前沿著一路徑設 定速度，以使得駕駛者可以透過該曲線安全地駕馱。 — 預看處理包括決定連接/路徑饋送速率之第一步驟 216，以及為停正步驟考慮將來之一第二步驟218。於步驟 216中，從點Pi·1到點pi沿著路徑之饋送速率被決定。在 步驟218中，如圖11所示，一段落長度Li於點pid和 )pi之間確定。於點pi-Ι之停止距離不應該大於Li和pi點 鲁 上之停止距離之總合。不然於點pi之外要遵循速度限制是 不可能的。這總合即是在加成性預看法中所提及之之一詞 “加成’’。所知道的是，在點pi-1之停止距離大於Li和點 pi上之停止距離之總合，然後，點pi-丨上之速度可能降低， 因此點pi-1之停止距離等於Li和點pi之停止距離之總 合。以方程式形式表示， 如果（停止距離i + ;SLi) <停止距離，則 ) 設定(停止距離i + 2Li)=停止距離i]。 鲁 另一形式中’使 cmdl，cmd2，cmd3，cmd4，cmd5， cmd6’…’ cmdi於已經處理過之預看佇列2〇8中，作 為連續指令。對於指令cmdj ’ 〇 <』< i+1，使其路徑長度 ，lenj以及^止距離為s〇pdisj。一“有效的停止距離條件” 疋義如下·右對於指令cmdj之停止距離stopdisj等於或少 於對於指令cmdHl #政你且由 J 1之路仨長度lenj + 1和停止距離 stopdisj+Ι之總合。 抖 因此和令cmdj則符合“有效停止距離 TW2931 PA/ HUR0126-21 46 13368221. The double arc can be generated from (p2, pO, tO, t2), as shown in Fig. 30, that is, the arc a from p〇 to P'5 and the arc a2 from p' to p2' at point p' Tangential. 2. The shortest distance between pi and the closer one of the two double arcs may be checked. If the distance in the x, y, and z directions is less than a predetermined distance, for example, 0.0002 inches, the double arcs a1 and a2 are valid. TW2931 PA/ HUR0126-21 41 1336822 3. If the double arcs a1 and a2 are invalid, the double arcs a3 and a4 are generated between points pO and p1 and are based on the tangent vector tO,tl. The two arcs a1 and a2 may be tangent at point p". 4. There may be a tolerance check for the double arc. A distance d in Fig. 31 is between the point ρπ and a line extending between the points pO and pi. One of the shortest distances = if the distance ci is less than a predetermined distance, for example, 0.00 5 in English, then the double arcs a3 and a4 are valid. Otherwise, if the double arcs a3 and a4 are invalid, then The point between pO and p1 defines the track as a line extending between points p〇 and p 1. 5. Repeat steps 3 and 4 to generate a pair between pi and p2 based on the tangent vectors t1 and t2. The double arc algorithm replaces a line segment with a pair of three-dimensional arcs. The adjacent arcs produced by the double arc may be tangent to each other, and all arcs may have reduced curvature changes. The double arc algorithm may be particularly suitable for tolerance and tolerance. The control unit is used together, and many advantages are generated. First, for most 3D surfaces and curves, the curvature often changes. Compared to longer arcs, the arcs that are tangent to each other provide better and more approximate smoothness. Second, for 5 or 6 Machining of the axes, short 3D XYZ arcs can be coordinated with point-to-point movements within the ABC axis space. This significant advantage is due to the difficulty of extending the non-tolerant control unit long arc 3D smoothing to five or six axis machining. Third, all of the three-dimensional arc commands will be directly executed by the tolerance type control unit by using the actual arc technique, which is to control the motion along the actual arc track without the polygonal approximation TW2931PA/HUR0126-21 42 Additive Predictive Calculus The method may need to take into account the knowledge of the maximum speed of different parts of the geometry. A tolerance/arc radius/speed chart may be established for this purpose. For arcs of different radii or curvature, the chart may have a maximum allowable speed. Different tolerance conditions. The additive look-ahead function may check each motion instruction that has just arrived at the front end of the look-ahead queue 208, and calculate the stop distance for the previous instruction in the following steps: • The other instruction is The instructions following the previous instruction are compared to obtain an angle or curvature between the two instructions, and Use this angle to determine the speed of the maximum joint point, which is the maximum allowable speed at the joint of two consecutive motion commands. • Query tolerance/arc radius/speed graph. According to the tolerance of the exercise and the required tolerance' The previously commanded motion track determines the maximum allowable orbital speed. • The stop distance is calculated for the previous command by taking the speed of the smaller maximum connection point and the maximum orbital speed, and the velocity profile will be smaller according to the s-curve. The speed is converted to the stopping distance. • The calculated stopping distance is added to the previous command. The pre-view is a dynamic process. Continuous track changes may affect previously processed commands. Each time a new command is added to the pre- Looking at queue 208' and calculating a stop distance for a new command, all of the listed orders that have been processed may be checked again to determine if the previously calculated stop distance needs to be updated. - The new move is processed and placed after the TW2931PA/HUR0126-21 45 1336822. After a look at the queue 208, the previous movements in all of the queues 208 may be checked again, and if necessary, their speed may be Under adjustment. This final pre-processing operation is similar to setting a speed along a path before a curve so that the driver can safely navigate through the curve. - The look-ahead process includes a first step 216 of determining the connection/path feed rate, and one of the future second steps 218 for the stop-positive step. In step 216, the feed rate along the path from point Pi·1 to point pi is determined. In step 218, as shown in Fig. 11, a paragraph length Li is determined between points pid and )pi. The stopping distance at point pi-Ι should not be greater than the sum of the stopping distances on Li and pi points. It is impossible to follow the speed limit in addition to the point pi. This sum is one of the words "addition" mentioned in the additive pre-view. It is known that the stopping distance at point pi-1 is greater than the sum of the stopping distances at Li and point pi. Then, the velocity on the point pi-丨 may decrease, so the stop distance of the point pi-1 is equal to the sum of the stop distances of Li and the point pi. It is expressed in the form of an equation if (stop distance i + ; SLi) <stop Distance, then) Set (stop distance i + 2Li) = stop distance i]. In another form, 'make cmdl, cmd2, cmd3, cmd4, cmd5, cmd6'...' cmdi in the pre-view queue 2 that has been processed In 〇8, as a continuous instruction. For the command cmdj ' 〇 < 』 < i+1, its path length, lenj and ^ distance are s〇pdisj. A "effective stop distance condition" is as follows: right For the stop distance of the command cmdj stopdisj is equal to or less than the sum of the command cmdHl #政你 and the length of the J1 path lenj + 1 and the stop distance stopdisj + 。. Shake and therefore cmdj is in line with the "effective stop distance TW2931 PA/ HUR0126-21 46 1336822
.(2) dst - dsi+, < /,+I * 因為停止距離ds_ i以及ds_(i+l)分別對應於運動cmd _ i 在該終點p_i的饋送速率以及運動cmd_(i+l)在終點p_ ' (i+1)的饋送速率。方程式（2)指出該段落長度1_ (i+l)足 夠長以適應由點p_ i之饋送速率到點p_ (i+Ι)之饋送速率 之一速度減速。 •) 加成性預看對非加成性預看 一容限型控制單元加成性預看演算法與一非加成性 預看演算法之不同，在於該加成性預看演算法產生一以停 止器為目標之S型曲線，以及只有使用部分的S型曲線， 因此該速度在該目標點由vl降低到vO。(2) dst - dsi+, < /, +I * because the stopping distance ds_ i and ds_(i+l) respectively correspond to the motion cmd _ i at the end p_i feed rate and the motion cmd_(i+l) Feed rate of the end point p_ ' (i+1). Equation (2) indicates that the length of the paragraph 1_(i+l) is sufficiently long to accommodate the speed deceleration from the feed rate of the point p_i to the feed rate of the point p_(i+Ι). •) Additional look-ahead is different from the non-additive pre-viewing tolerance control unit additive pre-view algorithm and a non-additive pre-view algorithm, in that the additive pre-view algorithm is generated. An S-shaped curve targeting the stop, and only a portion of the S-curve is used, so the velocity is reduced from vl to vO at the target point.
圖34顯示該加成性和非加成性S型曲線加速分布圖 之比較。在兩個分布圖中，速度在該目標點由v 1降低到 vO。然而，在加成性S曲線中，在時間ttbcl和時間ttbc0 之間產生減速，而在非加成性S型曲線中，於時間twml和 時間twm0之間發生減速。因此，非加成性S型曲線中需要 比加成性S型曲線有較長的時間和距離，以達到相同速度 由vl降低到vO的速度降低。 加成性預看可能是一動態的過程。連續執道變化可影 響該先前處理過的指令。每一個新的指令被加入到預看佇 列中以及一停止距離為一新指令被計算出來，佇列中所以 TW2931 PA/ HUR0126-21 51 已經處理過的指令可被再檢查以查看是否先前計算之停 止距離需要更新。 當一新的指令cmdi被接收並且處理時，它有一路徑 長度i以及停止距離d_i。此加成性預看演算法可以執行下 列步驟： •檢查指令cmdM以查看是否符合“有效停止距離條 件”，亦即是若ds_(i-l)等於或小於l_i和d_i的總合。 •若指令cmd^沒有符合“有效停止距離條件”，亦即是 ds_(i-l)大於l_i和d_i的總合，則指令cmdid以l_i 和d_i的總合取代該停止距離ds_(i-1)。 •若指令cmdM符合“有效停止距離條件”，亦即是 ds_(i-l)等於或小於l_i和d_i的總合，則指令cmdM 之停止距離cmdM維持不變，而且更新操作完成。 •若（i-Ι)等於〇，則更新操作完成。 • i - (i值減少）以及重複上述步驟。 當該加成性預看函數依次再向後檢查於預看佇列中 先前處理過的指令時，檢查該“有效停止距離條件”以 及更新指令的停止距離，該更新操作可能於該第一指 令符合“有效停止距離條件”時停止。因為這指令符合 “有效停止距離條件”，這指令之該停止距離可能維持 不變。再者，因為這指令符合“有效停止距離條件”， 所以此指令之前的所有指令符合並且依舊符合該“有 效停止距離條件”，而且先前指令中無一需要改變。 T W2931 PA/ HURO126-21 52 1336822 第11圖繪示沿著一工具路徑延伸於連續兩個點間之 .一線段長度之座標圖。 第12圖繪示實際工具路徑與一預期工具路徑之偏差 的一座標圖。 ·' 第13圖繪示本發明一實施例對於伺服器之控制迴路 ' 循環時間之座標圖。 第14圖繪示本發明一實施例之一預測錯誤校正之方 法之程式資料點座標圖。 φ") 第15圖繪示本發明一實施例之之一隨機錯誤校正之 方法之程式資料點座標圖。 第16圖繪示本發明執行一運動核心方法之流程圖。 第17圖繪示本發明一實施例之對於機器加工一工件 - 之一方塊圖。 第18圖繪示於第5圖中所說明之本發明一實施例之 流程圖。 第19圖繪示於第6圖和第7圖中所說明之本發明方 參」法之一實施例之流程圖。 第20圖繪示於第9圖中所說明之本發明方法之一實 施例之流程圖 第21圖繪示於第5圖到第9圖中所說明之本發明方 法之一實施例之流程圖。 第22圖繪示於第11圖中所說明之本發明方法之一實 施例之流程圖。 第23圖繪示於第11圖中所說明之本發明方法之另一 TW2931 PA/ HUR0126-21 105 實施例之流程圖。 第24圖繪示於第11圖中所說明之本發明方法之又另 一實施例之流程圖。 第25圖繪示於第12圖中所說明之本發明方法之一實 施例之流程圖。 第26圖繪示於第12圖中所說明之本發明方法之另一 實施例之流程圖。 第27圖繪示於第12圖中所說明之本發明方法之又另 一實施例之流程圖。 第28a圖為0級資料平滑處理之一圖示。 第28b圖為1級之資料平滑處理之一圖示。 第28c圖為2級之資料平滑處理之一圖示。 第28d圖為3級之資料平滑處理之一圖示。 第28e圖為4級之資料平滑處理之一圖示。 第29圖繪示本發明之一雙弧線平滑演算法之一實施 例之一步驟。 第30圖繪示本發明之一雙弧線平滑演算法之一實施 例之另一步驟。 第31圖繪示本發明之一雙弧線平滑演算法之一實施 例之又另一步驟。 第32a圖繪示該工具之速度對時間之另一座標圖，又 稱為一 S-曲線。 第32b圖說明距離相關於32a圖之圖解。 第33圖繪示停止距離概念之圖解。 TW2931 PA/ HUR0126-21 106 1336822 第34圖繪示加成和非加成性預看演算法之工具速度 對時間之又一個座標圖。 第35a圖為明一加成性預看演算法之一實施例之一 流程圖。 第35b圖為一非加成性預看演算法之一實施例之一 流程圖。 第36圖為一比較非加成性預看演算法之運動特性與 一容限型控制加成性預看演算法之圖表。 第37圖為本發明之非容限型控制運動控制設置之一 實施例之一方塊圖。 第38a圖為一參考轨道y=x之座標圖。 第38b圖為第38a圖之參考軌道座標圖分解成一以時 間為基準之y軸軌道x=kt之座標圖。 第38c圖為第38a圖之參考執道座標圖分解成一以時 間為基準之X軸軌道x=kt之座標圖。 第38d圖為圖38a-38c產生之參考軌道之實際軌道座 〕標圖。 第39圖繪示本發明之一容限型控制單元運動控制配 置之一實施例之一方塊圖。 第40圖繪示第39圖之容限型控制單元運動控制配置 之另一方塊圖。 第41圖繪示一線條運動之停止器平面正交之一座標 圖。 第42圖繪示一弧線運動之停止器平面正交之一座標 TW2931 PA/ HUR0126-21 107 1336822 圖。 第43圖為一線條運動幾何分析圖。 第44a圖為繪示弧線運動幾何分析之第一圖。 第44b圖為繪示弧線運動幾何分析之第二圖。 第45圖繪示一容限型控制S-曲線控制器之一實施例 之操作之流程圖。 第46圖繪示本發明一容限型控制前饋送控制配置之 一實施例之方塊圖。 第47圖繪示一次正常誤差之可變增益回饋控制之配 置之一實施例之一方塊圖。 【圖式標號說明】 100 容限型控制方法 102 第一步驟 104 :軌道預處理步驟 106 預測和隨機誤差補整步驟 108 最後步驟 202 :容限佇列 204 壓縮佇列 206 :平滑處理佇列 208 預看佇列 210 平滑處理準備步驟 212 平滑處理之調整步驟 214 雙弧線平滑處理步驟 220 :伺服 216 連接/路徑饋送速率之步驟 218 停止距離之預看步驟 222 計算位置步驟 224 : S-曲線步驟 TW2931PA7 HURO126-21 108Figure 34 shows a comparison of the additive and non-additive S-curve acceleration profiles. In both profiles, the velocity is reduced from v 1 to vO at the target point. However, in the additive S curve, deceleration occurs between time ttbcl and time ttbc0, and in the non-additive S-curve, deceleration occurs between time twml and time twm0. Therefore, the non-additive S-curve requires a longer time and distance than the additive S-curve to achieve the same speed reduction from vl to vO. Additive look-ahead can be a dynamic process. Continuous execution changes can affect the previously processed instructions. Each new instruction is added to the look-ahead queue and a stop distance is calculated for a new instruction. Therefore, the TW2931 PA/ HUR0126-21 51 processed instructions can be rechecked to see if they were previously calculated. The stopping distance needs to be updated. When a new instruction cmdi is received and processed, it has a path length i and a stop distance d_i. This additive pre-view algorithm can perform the following steps: • Check the command cmdM to see if the "effective stop distance condition" is met, that is, if ds_(i-l) is equal to or less than the sum of l_i and d_i. • If the command cmd^ does not meet the "effective stop distance condition", that is, ds_(i-l) is greater than the sum of l_i and d_i, the command cmdid replaces the stop distance ds_(i-1) with the sum of l_i and d_i. • If the command cmdM meets the "effective stop distance condition", that is, ds_(i-l) is equal to or less than the sum of l_i and d_i, the stop distance cmdM of the command cmdM remains unchanged, and the update operation is completed. • If (i-Ι) is equal to 〇, the update operation is completed. • i - (i value is reduced) and repeat the above steps. When the additive pre-view function sequentially checks back the previously processed instructions in the look-ahead queue, the "effective stop distance condition" and the stop distance of the update instruction are checked, and the update operation may be consistent with the first instruction. Stop when "effective stop distance condition". Since this command complies with the "effective stop distance condition", the stopping distance of this command may remain unchanged. Furthermore, since this instruction conforms to the "effective stop distance condition", all instructions preceding this instruction conform to and still conform to the "effective stop distance condition", and none of the previous instructions need to be changed. T W2931 PA/ HURO126-21 52 1336822 Figure 11 shows a graph of the length of a line segment extending between two consecutive points along a tool path. Figure 12 shows a plot of the deviation of the actual tool path from an expected tool path. Fig. 13 is a diagram showing the coordinate of the cycle time of the control loop of the server according to an embodiment of the present invention. Figure 14 is a diagram showing the coordinates of a program data point of a method for predicting error correction according to an embodiment of the present invention. φ") Fig. 15 is a diagram showing a program data point coordinate of a method of random error correction according to an embodiment of the present invention. Figure 16 is a flow chart showing the method of performing a motion core of the present invention. Figure 17 is a block diagram of a workpiece for machining a workpiece in accordance with an embodiment of the present invention. Figure 18 is a flow chart showing an embodiment of the invention illustrated in Figure 5. Figure 19 is a flow chart showing an embodiment of the method of the present invention illustrated in Figures 6 and 7. 20 is a flow chart showing an embodiment of the method of the present invention illustrated in FIG. 9. FIG. 21 is a flow chart showing an embodiment of the method of the present invention illustrated in FIGS. 5 to 9. . Figure 22 is a flow chart showing an embodiment of the method of the present invention illustrated in Figure 11. Figure 23 is a flow chart showing another embodiment of the TW2931 PA/HUR0126-21 105 of the method of the invention illustrated in Figure 11. Figure 24 is a flow chart showing still another embodiment of the method of the present invention illustrated in Figure 11. Figure 25 is a flow chart showing an embodiment of the method of the present invention illustrated in Figure 12. Figure 26 is a flow chart showing another embodiment of the method of the present invention illustrated in Figure 12. Figure 27 is a flow chart showing still another embodiment of the method of the present invention illustrated in Figure 12. Figure 28a is a graphical representation of level 0 data smoothing. Figure 28b is an illustration of one level of data smoothing. Figure 28c is an illustration of one of the level 2 data smoothing processes. Figure 28d is a graphical representation of the level 3 data smoothing process. Figure 28e is a graphical representation of one of the four levels of data smoothing. Figure 29 is a diagram showing one of the steps of one embodiment of a double arc smoothing algorithm of the present invention. Figure 30 is a diagram showing another step of an embodiment of one of the double arc smoothing algorithms of the present invention. Figure 31 is a diagram showing still another step in an embodiment of one of the double arc smoothing algorithms of the present invention. Figure 32a shows another plot of the speed of the tool versus time, also known as an S-curve. Figure 32b illustrates an illustration of the distance associated with Figure 32a. Figure 33 shows an illustration of the concept of stopping distance. TW2931 PA/ HUR0126-21 106 1336822 Figure 34 shows another graph of the tool speed versus time for the additive and non-additive pre-view algorithms. Figure 35a is a flow chart showing one of the embodiments of the additive pre-view algorithm. Figure 35b is a flow chart of one of the embodiments of a non-additive pre-view algorithm. Figure 36 is a graph comparing the motion characteristics of a non-additive pre-view algorithm with a tolerance-type control pre-view algorithm. Figure 37 is a block diagram of one embodiment of a non-tolerant control motion control setting of the present invention. Figure 38a is a graph of a reference track y = x. Figure 38b is a plot of the reference orbit coordinate map of Figure 38a decomposed into a time-based y-axis orbit x = kt. Figure 38c shows the coordinate map of the reference obstruction in Figure 38a decomposed into a time-based X-axis orbit x=kt. Figure 38d is a plot of the actual orbital seat of the reference track produced by Figures 38a-38c. Figure 39 is a block diagram showing one embodiment of a motion control configuration of a tolerance type control unit of the present invention. Figure 40 is a block diagram showing the motion control configuration of the tolerance type control unit of Figure 39. Figure 41 is a diagram showing a plane orthogonal to the plane of the stop of a line motion. Figure 42 is a diagram showing the plane orthogonal to one of the planes of the arc motion TW2931 PA/ HUR0126-21 107 1336822. Figure 43 is a geometric analysis of line motion. Figure 44a is the first diagram showing the geometric analysis of the arc motion. Figure 44b is a second diagram showing the geometric analysis of the arc motion. Figure 45 is a flow chart showing the operation of one embodiment of a tolerant control S-curve controller. Figure 46 is a block diagram showing an embodiment of a tolerance type pre-control feed control configuration of the present invention. Figure 47 is a block diagram showing one embodiment of a configuration of a variable gain feedback control of a normal error. [Description of Labels] 100 Capacitive Control Method 102 First Step 104: Track Pre-Processing Step 106 Predictive and Random Error Completion Step 108 Final Step 202: Tolerance 204 Column 204 Compression 206 206: Smoothing 伫 208 Pre- See step 210 Smoothing preparation step 212 Smoothing adjustment step 214 Double arc smoothing step 220: Servo 216 Connection/path feed rate step 218 Stop distance preview step 222 Calculate position Step 224: S-curve step TW2931PA7 HURO126 -21 108