Boots – shoes – and leggings
Patent
1979-04-27
1981-04-14
Ruggiero, Joseph F.
Boots, shoes, and leggings
318573, 318696, 364101, G05B 19417, G05B 19403, G05B 1940
Patent
active
042623367
ABSTRACT:
In a numerically controlled machine includes a first computer which stores command data for a path and derives sets of interpolation point data from said command data for a plurality of points along the path. A second computer stores two sets of interpolation point data from said first computer and extrapolates a set of said stored interpolation point data by incrementing velocity with acceleration and position with velocity using a noncircular high order polynomial to produce a sequence of driver command signals.
A timing means provides timing signals to the second computer to determine the number and rate of iterations of drive command signals in said sequence as predetermined by the first computer for each set of interpolation point data.
The program execution time in the second computer is reduced by a unique method of multiprecision calculation which requires a carry flip flop for each variable calculated and a sign flip flop for eliminated word segments. The memory address decoding for the two sets of interpolation print data are interchanged after each sequence invisibly to the computers. An index register causes data memory address decoding for a plurality of motor drivers invisible to the computers and selects an output to the appropriate motor driver. The second computer includes a manual mode program to calculate the sequence of driver command signals using a manually induced velocity vector. A phased locked loop in the timing means controllably reduces the iteration rate to zero in response to an error signal.
REFERENCES:
patent: 3967176 (1976-06-01), Wagener et al.
patent: 3970830 (1976-07-01), White et al.
patent: 4058711 (1977-11-01), Ondercin et al.
patent: 4095157 (1978-06-01), Klauser
patent: 4118771 (1978-10-01), Pomella et al.
patent: 4118776 (1978-10-01), Isomura
patent: 4149235 (1979-04-01), Froyd et al.
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