Abstract: The present invention relates to navigation of a path by a moving object, and, more particularly, to motion control systems for computer-controllable machine tools.

Abstract: The present invention relates to navigation of a path by a moving object, and, more particularly, to motion control systems for computer-controllable machine tools.

Abstract: A method of controlling movement of a body at spaced apart instances along a trajectory in a multi-dimensional environment by determining a current position of the body at a current instance, determining an ideal point on the trajectory, determining a vector difference between the current position and the ideal point, and adjusting the body's velocity for a subsequent instance based on the vector difference. The method may be used in motion control systems for computer-controllable machine tools.

Abstract: The present invention involves a method of processing path data for a motive body. The control identifies a plurality of points along a target path, determines a maximum allowable stopping distance of the motive body at a last of the points, and ascertains a last maximum allowable speed of the motive body at the last point such that the motive body may come to a stop within the maximum allowable stopping distance. An other maximum allowable speed of the motive body is established at an other one of the points such that the motive body may possibly slow down to the last maximum allowable speed upon arriving at the last point.

Abstract: The present invention involves a method of adjusting path data for a motive body includes identifying four consecutive points of the path data. The four consecutive points include a first point, a second point, a third point and a fourth point. It is determined whether the second point is suitable for smoothing. If the second point is suitable for smoothing, then a first arc and a second arc are located, and the second point is moved into an area between the first arc and the second arc. The first arc is defined by the first point, the second point and the fourth point. The second arc is defined by the first point, the third point and the fourth point. A line move associated with the second point is replaced with at least one arc move associated with the second point.

Abstract: The present invention involves a method of operating a motive body, where a target path is identified. The motive body is commanded to follow the target path from an initial position. The first actual position is sensed of the motive body after the commanding step. A first target subpath is calculated from the first actual position to correct for predictive errors in movement of the motive body. The actual position of the motive body is determined along each of a plurality of axes, and a multi-dimensional position error between the actual position of the motive body in each of the axes and a multi-dimensional reference trajectory is calculated. A multi-dimensional position error signal dependent upon the calculating step is determined. At least one of a speed and a direction of the motive body is established dependent upon the multi-dimensional position error signal.

Abstract: A method of routing a probe of a digitizing system on the surface of a model object for the purpose of copying that model object as a part are disclosed. When a tolerance number is given, model surface data can be collected so that the geometrical difference between the model and the part is within the given tolerance for all touchable points on the model surface.

Abstract: A method of routing a probe of a digitizing system on the surface of a model object for the purpose of copying that model object as a part are disclosed. When a tolerance number is given, model surface data can be collected so that the geometrical difference between the model and the part is within the given tolerance for all touchable points on the model surface.

Abstract: A computer assisted manual machine tool system and method for milling, turning and grinding uses a computer model of machine objectives and location feedback signals from the tool to control motion switch means enabling and disabling tool motion. The manual machinist may position a tool to a target position by enabling motion along each controlled axis while the tool's position feedback for that axis is outside of the tolerance specification and disabling motion once the tool is within that tolerance. The machinist may contour within a specified tolerance zone by toggling the motion switch means for each axis to produce motion along that contour. The machinist may pocket by enabling motion while the tool is away from the pocket surfaces and disabling motion when the tool position is within a predetermined distance of any pocket surface.

Abstract: A computer-controlled machine equipped with sensors determines position and orientation of a workpiece, with respect to a model of the workpiece, which is stored in a data processing system interfaced to the machine, by measuring coordinates of points on the surfaces of the workpiece and determining a transformation in which a sum of squared distances from the points to the corresponding surfaces of the model is minimized. The determined transformation is improved so as to satisfy the specified tolerances.

Abstract: The present invention involves a tolerance based motion controller. The controller is capable of processing a group of tolerance constraints. The tolerance constraints specify where and when each tolerance constraint is to be applied, along with the information specifying the desired trajectory of motion. There are also a group of velocity constraints, specifying the maximum allowable velocity at each point along the desired trajectory. This information along with sensor feedback is used to modify the velocity along the actual trajectory of motion. This results in the time required traverse the trajectory being as short as possible. Also, the actual trajectory of motion should never exceed the permissible deviation from the desired trajectory, as specified by the tolerance constraints, with the velocity always being bounded by the specified velocity constraint.