公开(公告)号：EP1398680A2

公开(公告)日：2004-03-17

申请号：EP03078151.2

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/41 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

摘要： A method and apparatus for controlling motion through consecutive linear spans that define a comer in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a comer having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.

公开(公告)号：EP1398681A2

公开(公告)日：2004-03-17

申请号：EP03078167.8

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/41 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

摘要： A method and apparatus for controlling motion through consecutive linear spans that define a comer in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a comer having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.

摘要翻译： 公开了一种用于通过连续线性跨度控制运动的方法和装置，所述连续线性跨度限定了所需运动路径中的角，例如机床系统中的运动路径。 在一个实施例中，提供了限定期望运动路径的多个数据点，并且多个数据点定义多个连续跨度。 确定两个连续线性跨度是否定义具有在预定范围内的角度的角，并且如果是，则确定连接到具有曲率连续性的两个连续线性跨度的非线性路径。 然后根据非线性路径控制致动器。

公开(公告)号：EP1102139B1

公开(公告)日：2004-02-04

申请号：EP00204087.1

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/00 ,  G05B19/4103 ,  G05B2219/34098 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

公开(公告)号：EP1117020A2

公开(公告)日：2001-07-18

申请号：EP00127568.4

申请日：2000-12-15

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34135

摘要： A spline interpolation motion control system and method that can automatically determine where sharp corners and flat sections were intended in a part program. In one embodiment, based upon the length ratio of two consecutive spans, the system and method determines whether to interpolate the first span with a line or with a spline function. If a parameter range is not met, then the span is interpolated as a line to maintain the intended flat section in the program. Also, in this embodiment, the angle defined by a pair of consecutive spans is used to determine whether the two spans should be interpolated with lines or with splines. If a tolerance is exceeded, then the spans are interpolated linearly to maintain the intended sharp comer in the part program.

摘要翻译： 一种样条插补运动控制系统和方法，可以自动确定部件程序中的尖角和平坦部分。 在一个实施例中，基于两个连续跨度的长度比，系统和方法确定是用线还是用样条函数内插第一跨度。 如果不满足参数范围，则将跨度作为一行进行内插，以便在程序中维持预期的平坦部分。 而且，在本实施例中，由一对连续跨度定义的角度被用来确定两个跨度是否应该用线或者样条插值。 如果超过公差，则线性内插，以保持零件程序中的预期锐角。

公开(公告)号：EP1117020B1

公开(公告)日：2006-04-05

申请号：EP00127568.4

申请日：2000-12-15

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34135

公开(公告)号：EP1102139A3

公开(公告)日：2002-08-07

申请号：EP00204087.1

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/00 ,  G05B19/4103 ,  G05B2219/34098 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

摘要： A method and apparatus for controlling motion through consecutive linear spans that define a corner in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a comer having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.

公开(公告)号：EP1102139A2

公开(公告)日：2001-05-23

申请号：EP00204087.1

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41

CPC分类号： G05B19/00 ,  G05B19/4103 ,  G05B2219/34098 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

摘要： A method and apparatus for controlling motion through consecutive linear spans that define a corner in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a comer having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.

摘要翻译： 公开了一种用于通过连续线性跨度来控制运动的方法和装置，其限定了所需运动路径中的拐角，例如机床系统中的运动路径。 在一个实施例中，提供了限定期望运动路径的多个数据点，并且多个数据点定义多个连续跨度。 确定两个连续线性跨度是否定义具有在预定范围内的角度的角，并且如果是，则确定连接到具有曲率连续性的两个连续线性跨度的非线性路径。 然后根据非线性路径控制致动器。

公开(公告)号：EP1398682B1

公开(公告)日：2008-04-09

申请号：EP03078168.6

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/41 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

公开(公告)号：EP1398682A3

公开(公告)日：2004-11-17

申请号：EP03078168.6

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/41 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

摘要： A method and apparatus for controlling motion through consecutive linear spans that define a comer in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a comer having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.

公开(公告)号：EP1398681A3

公开(公告)日：2004-11-17

申请号：EP03078167.8

申请日：2000-11-20

申请人： Siemens Energy & Automation, Inc.

发明人： Yutkowitz, Stephen J.

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/41 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/34143 ,  G05B2219/49164

摘要： A method and apparatus for controlling motion through consecutive linear spans that define a comer in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a comer having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.