摘要:
The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.
摘要:
The invention relates to a coordinate measuring machine (CMM) for determining a measuring position of a probe. The CMM comprises an articulated arm having first and second ends and at least one joint between the first and the second end, the first end forming a base being positionable on a supporting surface, the second end being movable relative to the first end and having attached the probe. Further exists at least one sensing unit for measurement of an actual relative setting of said at least one joint and at least one computing unit for calculating a measuring position of the probe relative to the base, as well as for referencing the measuring position in an external coordinate system by using a provided base-position in the external coordinate system.
摘要:
The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.
摘要:
A method and apparatus for control of pivoting machine members propelled by linear actuators so as to permit coordinated motion of the pivoting members with translating machine members. Position commands for the pivoting machine members are given in angular units. The propelling linear actuators are controlled by servomechanism control providing position and velocity control. Position measurements for the pivoting members measure linear displacement of the propelling actuator. Position commands for the pivoting members are compensated according to the non-linear relationship between displacement of the propelling actuator and the angular displacement of the pivoting member.
摘要:
A complex machine tool has a single frame having a chip collecting space at a center portion thereof, first and second spindle stocks on the frame, relatively free to move and drive in a Z axis direction and holding the chip collecting space therebetween, workpiece spindles on the spindle stocks free to rotate and drive and facing each other, and tool rests. The tool rests have turrets and can assume various kinds of movement. Complicated and varied types of machining can be performed combining the rotation control of the workpiece spindles and the spindle stocks.
摘要:
A complex machine tool has a single frame having a chip collecting space at a center portion thereof, first and second spindle stocks on the frame, relatively free to move and drive in a Z axis direction and holding the chip collecting space therebetween, workpiece spindles on the spindle stocks free to rotate and drive and facing each other, and tool rests. The tool rests have turrets and can assume various kinds of movement. Complicated and varied types of machining can be performed combining the rotation control of the workpiece spindles and the spindle stocks.
摘要:
Apparatus for controlling a manipulator employs a control device, first to third detectors, a producing device and a driving device. The first detector detects an operating force/torque generated by the control device and the second detector detects a deflecting amount of the control device from a reference position. The third detector detects an end force applied on an end portion of the manipulator and reaction signals are generated by the producing device. The reaction signal corresponds to a function of the deflecting amount and the end force. A force/torque corresponding to the difference between output signals from the first detector and the producing device are generated by the driving device and applied on the control device.
摘要:
A process is disclosed for automatically positioning the drill spindle over a workpiece at a predetermined location defining the bore center, wherein the shop drawing and the workpiece bore centers are defined as to their locations in different coordinate systems and wherein the invention provides for calculating and measuring steps to transform between the various coordinate systems. The invention discloses also apparatus for practicing the process by employing a controller-arithmatic unit which carries out the coordination of the plurality of logic circuits and the effecting the use of a programmed performance of the process including the teaching or updating of the program for new bores.
摘要:
56. AUTOMATICALLY CONTROLLED APPARATUS, INCLUDING A WORK DEVICE, MEANS FOR TRANSPORTING SAID WORK DEVICE THROUGH THREE-DIMENSIONAL RANGES OF POSITIONS, AND CONTROL MEANS FOR SAID WORK DEVICE AND SAID TRANSPORTING MEANS, SAID CONTROL MEANS INCLUDING A FIRST SOURCE OF CONTROL INFORMATION FOR DETERMINING A PRESCRIBED PROGRAM OF MOTIONS OF SAID WORK DEVICE IN THREE-DIMENSIONAL SPACE, A FURTHER SOURCE OF CONTROL INFORMATION INDEPENDENT OF SAID TRANSPORTING MEANS FOR GENERATING, DURING OPERATION OF SAID FIRST SOURCE, OFFSET INFORMATION THAT VARIES IN THE COURSE OF THE PROGRAM PROVIDED BY SAID FIRST SOURCE OF CONTROL INFORMATION, AND MEANS COMBINING AND RESPONSIVE JOINTLY TO SAID FIRST AND FURTHER SOURCES OF CONTROL INFORMATION FOR CONTROLLING SAID TRANSPORTING MEANS TO EXECUTE SAID PRESCRIBED PROGRAM OF MOTIONS MODIFIED BY THE GENERATED OFFSET INFORMATION.
摘要:
In a wire electric discharge machine, a workpiece mounting unit mounts a workpiece tilted at a preset angle to a plane based on two orthogonal axes, X- and Y-axes. An XY-coordinate system is tilted at the preset angle so that it is transformed into an X′Y′-coordinate system. A machining command value commanded by a machining program is corrected based on the X′Y′-coordinate system. Thus, the tilted workpiece is taper-machined with a wire electrode kept substantially perpendicular to the XY-plane (table surface).