Method of real-time machine path planning from a math model

Details Method of real-time machine path planning from a math model Method of real-time machine path planning from a math model

1991-03-11

1995-03-07

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318571, 318572, 318577, 395119, 36447424, G05B 1942

Patent

active

053961609

ABSTRACT:
A robot carrying a milling cutter or other multi-axis machine cuts a physical model and is directly driven in real time from a CAD generated mathematical model. The path planning is carried out in parametric space but with velocity constraints in the machine coordinate space. The method will generate proper points in parametric space and then map to machine space to minimize interpolations needed by machine controller to improve tracking accuracy while achieving the desired cutting velocity. Point data is computed by the microcomputer and transferred to the machine controller continuously while the machine is cutting. Long pre-cutting computation times are eliminated.

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