DE69604374T2 - Verfahren und vorrichtung zur freien kurveninterpolation - Google Patents

Verfahren und vorrichtung zur freien kurveninterpolation

Info

Publication number
DE69604374T2
DE69604374T2 DE69604374T DE69604374T DE69604374T2 DE 69604374 T2 DE69604374 T2 DE 69604374T2 DE 69604374 T DE69604374 T DE 69604374T DE 69604374 T DE69604374 T DE 69604374T DE 69604374 T2 DE69604374 T2 DE 69604374T2
Authority
DE
Germany
Prior art keywords
free curve
curve interpolation
interpolation
free
curve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69604374T
Other languages
English (en)
Other versions
DE69604374D1 (de
Inventor
Toshiaki - Otsuki
Haruhiko Fanuc Manshonha Kozai
Yoshiyuki Fanuc Dai Wakinotani
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of DE69604374D1 publication Critical patent/DE69604374D1/de
Application granted granted Critical
Publication of DE69604374T2 publication Critical patent/DE69604374T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43058—Limitation of acceleration, permissible, tolerable acceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43062—Maximum acceleration, limit
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43063—Acceleration deceleration as function of maximum allowable speed
DE69604374T 1995-07-10 1996-07-10 Verfahren und vorrichtung zur freien kurveninterpolation Expired - Fee Related DE69604374T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7173281A JP3037881B2 (ja) 1995-07-10 1995-07-10 数値制御装置
PCT/JP1996/001915 WO1997003393A1 (fr) 1995-07-10 1996-07-10 Procede d'interpolation curviligne libre et dispositif correspondant

Publications (2)

Publication Number Publication Date
DE69604374D1 DE69604374D1 (de) 1999-10-28
DE69604374T2 true DE69604374T2 (de) 2000-01-05

Family

ID=15957549

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69604374T Expired - Fee Related DE69604374T2 (de) 1995-07-10 1996-07-10 Verfahren und vorrichtung zur freien kurveninterpolation

Country Status (5)

Country Link
US (1) US5936864A (de)
EP (1) EP0780745B1 (de)
JP (1) JP3037881B2 (de)
DE (1) DE69604374T2 (de)
WO (1) WO1997003393A1 (de)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3034843B2 (ja) 1998-05-28 2000-04-17 ファナック株式会社 加工機の制御装置
WO1999061962A1 (fr) 1998-05-28 1999-12-02 Mitsubishi Denki Kabushiki Kaisha Convertisseur de fichiers de programmes d'usinage pour equipement a commande numerique, et programme de memorisation de support d'enregistrement lisible par ordinateur pour commander un ordinateur executant une procedure de conversion de fichiers
US6934601B2 (en) * 1999-09-20 2005-08-23 Hitachi, Ltd. Numerically controlled curved surface machining unit
JP3610485B2 (ja) * 1999-09-20 2005-01-12 株式会社日立製作所 数値制御曲面加工装置
US6675061B2 (en) 2001-02-26 2004-01-06 Hitachi, Ltd. Numerically controlled curved surface machining unit
US6782306B2 (en) * 1999-12-16 2004-08-24 Siemens Energy & Automation Motion control system and method utilizing spline interpolation
JP3681972B2 (ja) * 2000-10-18 2005-08-10 ファナック株式会社 加減速制御方法
US6922607B2 (en) * 2000-12-06 2005-07-26 Tsunehiko Yamazaki Numerically controlled method
JP3904993B2 (ja) * 2002-08-16 2007-04-11 ファナック株式会社 曲線補間方法
GB0508273D0 (en) * 2005-04-25 2005-06-01 Renishaw Plc Method for scanning the surface of a workpiece
JP4168060B2 (ja) * 2006-04-24 2008-10-22 ファナック株式会社 円錐状の加工面の加工を可能にした数値制御装置
JP4800873B2 (ja) * 2006-08-04 2011-10-26 オークマ株式会社 近似点群データからの近似曲線生成プログラム及び方法
JP5274782B2 (ja) * 2007-03-27 2013-08-28 株式会社ミツトヨ 表面性状測定装置、表面性状測定方法及び表面性状測定プログラム
JP5417390B2 (ja) * 2011-07-29 2014-02-12 新日本工機株式会社 数値制御装置
CN103111760B (zh) * 2011-11-17 2015-08-05 大族激光科技产业集团股份有限公司 一种z轴空行程仿形控制方法、系统及激光切割机
JP5897659B2 (ja) * 2014-07-25 2016-03-30 ファナック株式会社 位置偏差の急激な変化による速度変動の抑制手段を持つ数値制御装置
CN112356026A (zh) * 2020-10-29 2021-02-12 中国科学院软件研究所 一种生成工业机器人指令衔接路径的方法和装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60107106A (ja) * 1983-11-15 1985-06-12 Mitsubishi Electric Corp 曲線補間装置
GB8626734D0 (en) * 1986-11-08 1986-12-10 Renishaw Plc Coordinate positioning apparatus
JPH0732979B2 (ja) * 1987-06-17 1995-04-12 ファナック株式会社 加減速制御装置
JP3004651B2 (ja) * 1988-01-08 2000-01-31 ファナック株式会社 数値制御装置
JPH02146607A (ja) * 1988-11-29 1990-06-05 Fanuc Ltd Ｎｃ移動指令補間方式
JP2790643B2 (ja) * 1989-02-20 1998-08-27 三菱電機株式会社 数値制御装置
JPH02256483A (ja) * 1989-03-29 1990-10-17 Kobe Steel Ltd 産業用ロボットの速度制御装置
JPH04111006A (ja) * 1990-08-30 1992-04-13 Kobe Steel Ltd ロボットの経路補間方法
EP0495147A1 (de) * 1991-01-18 1992-07-22 Siemens Aktiengesellschaft Verfahren zur Bahnkorrektur bei numerisch gesteuerten Maschinen
JP3036143B2 (ja) * 1991-09-02 2000-04-24 三菱電機株式会社 数値制御装置
KR0168065B1 (ko) * 1992-09-25 1999-03-20 윤종용 수치제어시스템의 모터제어방법 및 그 장치
JP3046177B2 (ja) * 1993-05-10 2000-05-29 オークマ株式会社 加減速制御装置
JP3194829B2 (ja) * 1993-12-27 2001-08-06 豊田工機株式会社 ロボットの動作プログラム生成装置

Also Published As

Publication number Publication date
EP0780745A1 (de) 1997-06-25
JPH0926813A (ja) 1997-01-28
US5936864A (en) 1999-08-10
DE69604374D1 (de) 1999-10-28
JP3037881B2 (ja) 2000-05-08
WO1997003393A1 (fr) 1997-01-30
EP0780745A4 (de) 1997-10-01
EP0780745B1 (de) 1999-09-22

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee