Способ потактового управления несколькими шаговыми двигателями с помощью персонального компьютера по каналу USB и устройство для его осуществления

Изобретение относится к области электротехники и может быть использовано для управления шаговыми двигателями (ШД) с помощью персонального компьютера (ПК) по каналу USB. Технический результат – обеспечение практически неограниченного наращивания количества управляемых двигателей, увеличение расстояние между ПК и МК до 1200 метров, обеспечение, при необходимости, одновременного управления ШД или разнесения во времени исполнения команд ШД для снижения требований к мгновенной мощности источника питания и уменьшения помех. Способ потактового управления несколькими шаговыми двигателями реализует режим управления с постоянной частотой и состоит в том, что для каждого такта управления формируют пакет данных, содержащий информацию о направлении поворота и количестве шагов ротора каждого шагового двигателя (ШД), которые он должен выполнить на данном такте управления. Этот пакет данных передают в виртуальный последовательный порт персонального компьютера. Драйвер порта передает пакет данных по каналу ...

УСТРОЙСТВО ДЛЯ УПРАВЛЕНИЯ ШАГОВЫМ МОТОРОМ

Устройство управления шаговым мотором содержит четыре мажоритарных элемента и три канала, в каждом из которых два элемента «И», элемент «ИЛИ», элемент «НЕ», блок формирования шагов. В каждый канал введено устройство гальванической развязки, а в блок формирования шагов включены два мажоритарных элемента, мультиплексор, два триггера, шесть элементов «И-НЕ», при этом обеспечены соответствующие связи между элементами и узлами схемы. Технический результат - повышение помехозащищенности и надежности, возможность проведения поканальных проверок в составе системы. 6 ил.

STEUERUNGSEINHEIT.

Verfahren zur Drehung von entsprechend einem vorgegebenen Programm durchfahrenen Kurvenzuegen bei informationsgesteuerten Werkzeugmaschinen, insbesondere Brennschneidmaschinen

Ausgleichseinrichtung fuer Steigungsfehler einer Vorschubspindel in zahlenwertgesteuerten Werkzeugmaschinen

Elektrischer Schrittmotor

Servoeinrichtung

Method for improving the positioning accuracy of an element which is driven by a stepping motor

The subject of the invention is a method for improving the positioning accuracy of an element which is driven by a stepping motor (in a typewriter or similar office machine). The precondition here is that the stepping motor is operated in half step and the actuation takes place during a step with two different voltages. The invention is based on the fact that lengthening the energisation time during the last step of a step sequence whenever this step sequence ends in a half step position leads to considerably greater positioning accuracy.

Electromagnetic positioner

... 940,447. Electromagnets. TRONICS CORPORATION. Jan. 12, 1962, No. 1307/62. Heading H2A. [Also in Divisions G4 and H1] An electromagnet comprising a coil winding and an axially movable armature in the magnet field of the windings, and including a plurality of taps spaced along the windings and means for connecting selected taps to a source of electrical supply, so as to pass current in different directions simultaneously through adjacent sections of the coil windings andhence create opposed stationary magnetic fields for positioning the armature accordingly. In Fig. 1 a tube 17 has a series of coils 31, sandwiched between insulated laminations 24 mounted on its outer surface, the coil assembly being contained in a two part housing 11, 12. A permanent magnet armature 36 with convex polepieces 37, 38 is mounted on a shaft 35 and is free to move within tube 17 within the limits of the coil length, the bearing 34 being outboard of the coil assembly. In Fig. 6 the coils 31 are connected in series ...

Improvements relating to apparatus for controlling the position of an object in dependence on recorded signals

... 1,097,833. Programmed position control. FERRANTI Ltd. Jan. 5, 1966 [Jan. 16, 1965], No.2059/65. Heading G3N. The position of an object is controlled in response to recorded cyclic reference and main signals by deriving from the reference signal n reference squarewave signal in n-phase relationship with one another and from the main signal a main squarewave signal, the squarewave signals being demodulated to derive from the main squarewave signal under the control of the n reference squarewave signals, n combination rectangular signals width-modulated in n-phase relationship with one another in dependence on the relative phase of the recorded signals, the n-combination signals being applied to n-phase stator windings of a synchronous motor positioning the object. As shown, the position of a work-table is controlled in dependence on the relative phase of cyclic reference and main signals recorded on a magnetic tape 11. The reference signal is derived from the tape by a transducer 12 and applied ...

MACHINING APPARATUS

... 1413299 Cutting apparatus BYSTRONIC MASCHINEN AG 7 Dec 1972 [7 Dec 1971] 56421/72 Heading B4B [Also in Division C1] Apparatus for cutting a relatively moving workpiece includes a plurality of tool carriers movable along a bridge mounted across the bridge and a power-operated displacement element for moving the carriers along the bridge, each carrier being interconnected by a respective clutch so that it can be declutched when the carrier reaches the required position. As shown, a plurality of carriers 10 0 , 10 1 , 10 2 ... 10 n slidably mounted on bridge 12 are each provided with a permanent magnet clutch 13 interconnecting them with a displacement rod 14. In use a control circuit causes the motor 46 to move the rod 14 in a stepwise fashion until one of the carriers reaches the desired position at which point a respective locking device 36 is activated thereby disconnecting the clutch. This process is continued until all the carriers are in their required positions.

CONTROLLING DEVICE FOR FLUID VALVE

Improvements in or relating to control systems

... 1,129,191. Programmed control of movement. SUPERIOR ELECTRIC CO. Aug. 2, 1966 [Aug. 4, 1965], No. 34660/66. Heading G3N. A control system for producing predetermined movement of a load along two axes comprises, for each axis, a reversible electric motor translating a change of energization into a known movement, a counting means for the changes of energization and a means terminating the change of energization when the count in the counting means corresponds to the information desired for the axis from a data means. As shown, the X and Y axes drive arrangements 11, 12 are similar and for the X axis comprises a load 15, driven by a stepping motor 13, effecting a rotative increment in response to a change in energization derived from a motor control circuit 17 controlled with pulses, each of which causes a change in energization, from an oscillator 19. The pulses from the oscillator are also fed to a binary coded countdown counter 21 which is set to the desired number of changes of energization ...

Intermediate linear positioning

A system for positioning a load, such as lens 3b in of multiple positions disposed over a linear axis consists of a linear actuator 15 to move the load into each of the positions. A first position 12 is at an end of the movement, with a second position 11 opposite. A third position 13 is intermediate between the first and the second positions. A stop actuator 16 is made of a configurable material switchable selectively between an engaged configuration, in which the load is positioned in the at least third position, and a disengaged configuration, in which the load is freely movable between the first and the second positions. The configurable material may be a shape-memory allow (SMA) forming a gate structure or wire structure or may be an electroactive polymer or a tiny ultrasonic linear actuator (TULA). The device may be used in zoom focus particularly for scanners for reading bar codes.

Incremental motion drive system

Windings 23, 24 of a variable reluctance stepper motor are alternately energised by respective transistor bridges A-D, E-H controlled by a processor receiving the outputs of comparators 77-80, each of which receives a signal synthesized by the processor to have an unperturbed waveform corresponding to the winding voltage when the motor is stationary and a signal of sensed winding voltage having a perturbed waveform related to the motor movement, whereby the processor first confirms that the motor is moving and then energises a winding reversely to its previous state. The signal waveform intersections define two crossing points dependent on the motor load, the processor respectively using the first point or the second point, Figs. 8A and 9B (not shown), to energise the windings according to whether optimum acceleration or deceleration is required. Load variations during driving automatically vary the crossing point and energisation instant being used, further variation occurring in dependence ...

MOTOR SPEED CONTROL

Pulse-distribution method and system for digital control of machinery

... 1,063,961. Copy-milling. FUJITSU Ltd. Feb. 17, 1964, No. 6598/64. Heading B3K. [Also in Division G3] The co-ordinate movements of a milling machine, Fig. 34 (not shown), are effected by electro-hydraulic pulse motors, Fig. 33 (not shown), responsive to a programmed electric control system (see Division G3) responsive to an optically read punched tape.

HYDRAULIC BOOST ACTUATORS

... 1343681 Hydraulic rams SPERRY RAND CORP 26 April 1971 [27 April 1970] 11313/71 Headings F1P F1D A hydraulic stepping ram 27 is controlled by a shuttle valve 16 in a body 14 integral with the ram 27 and the valve 16 is mechanically connected at 15 to the output arm 17 of an adjustable electric rotary stepping motor 12 and gear train 13; the motor 12 effecting a step in response to an electronic command signal of adjustable duration. Motor 12 and gear train 13 are rigid with a control arm 18 which is pivoted at 24 to the body 14 and has a slot 20 by which arm 18 makes a lost motion connection with a pin 211 carried by an arm 21 rigid with body 14. Arms 18, 21 may be held against relative movement by a brake 23 and arm 18 may be moved manually by a pilots control stick 19 pivoted thereto. In operation and with brake 23 on, a step of motor 12 moves shuttle 16 say to the right which results in ram 27 and body 14 moving to the right until body 14 and shuttle 16 assume their previous ...

METHOD AND APPARATUS FOR PRODUCING DIGITAL CONTOUR MOVEMENT USING STEPPING MOTORS

... 1391402 Automatic control of movement SUPERIOR ELECTRIC CO 29 May 1973 25521/73 Addition to 1316071 Heading G3N An apparatus for producing movement of an element along an actual path that substantially coincides with a desired path by stepwise movement on one or other of mutually perpendicular axes, as disclosed in Specification 1316071, wherein there is made a determination of whether an increment of movement will cause a crossing of the desired path and accordingly providing a simulated or actual increment, is modified in order to permit the ratio of simulated to actual increments being other than 1 : 1.

DIGITAL CONTOUR SYSTEM WITH RELATIVELY CONSTANT PATH SPEED

... 1,254,334. Programmed control of machine tools. SUPERIOR ELECTRIC CO. Sept.24, 1969 [Oct.10, 1968], No.46959/69. Heading G3N. A member is moved relative to another member by incremental movements selected along perpendicular axes so as to tend to cross a desired path, the speed at which each increment is carried out being controlled so as to maintain traversal of the desired path substantially constant. As shown, a digital position control system comprises a control unit 13 distributing pulses to X and Y axis pulse motors 11, 12 in dependence on pulses on a line 14, derived from input data on lines 44, from a punched tape not shown, by an error register 41 having an add-subtract gate 43. A signal on a line 42 provides a binary indication of the axis on which the future step is to be taken. The determination of past and now steps is effected by cascaded shift registers 46, 49 each of which introduces a one step delay. The feedback to gate 43 is derived from the now shift register and the ...

SEWING MACHINES

STITCH PATTERN GENERATING SYSTEM FOR A SEWING MACHINE

SEWING MACHINES

... 1517298 Automatic sewing machine UNION SPECIAL CORP 12 Aug 1975 [12 Aug 1974] 13533/77 Divided out of 1517297 Heading D1G The specification describes the sewing machine disclosed in Specification 1517297. The claims are directed to the manner in which the movement of the work holder towards the needle is limited to prevent the needle fouling the holder.

Positioning control system

In a wood working machine having a work bed movable relative to the frame of the machine by a screw threaded spindle theres a problem of accurately positioning the bed. Inaccuracy in positioning occurs because of backlash in the drive and also because of overrun occurring on stopping the n drive motor to the spindle. The present invention provides a step motor for driving the spindle and involves (i) initially transmitting n pulses to the motor to rotate the spindle in such a direction and by an amount sufficient to take up backlash, (ii) transmitting thereafter a number of pulses corresponding to the nominal value of the desired movement of the bed to the motor to rotate the spindle and thereby move the bed in a desired direction, and (iii) transmitting thereafter, at a lower rate, n pulses to the motor to rotate the spindle in the opposite direction to that in (i) above and at a sufficiently lower speed to avoid overrun. ...

POSITIONING CONTROL SYSTEM

WRAPPING MACHINE

FLOATING ACTUATOR PRICE INCREASE SYSTEM AND - PROCEDURES

ELEKTROMOTORISCHES ANTRIEBSSYSTEM

PROCEDURE FOR ADJUSTING LOW BEAM MECHANISMS

MOTOR DRIVE SYSTEM

FORMING CONTOURS

MOTOR DRIVE CONTROL ARRANGEMENTS

STEPPER MOTOR CONTROL

DIGITAL SERVO COMPRISING MEANS FOR CONTROLLING DRIVING ENERGY IN RESPONSE TO DROOP

CONTROL SYSTEM FOR VENEER SLICER

In a veneer slicer having a knife, an apparatus for controlling the movement of the knife. The apparatus comprises a controllable linear actuator for moving the knife. The apparatus further includes a programmable device for controlling the actuator.

CONTROL SYSTEM FOR STEPPING MOTORS, A METHOD OF OPERATING STEPPING MOTORS, AND A METHOD FOR SELECTING CURRENT PATTERNS FOR STEPPING MOTORS

An open loop control device and method are provided for stepping motors. By energizing a motor so that the rotor motion is the result of a revolving field which is of stepwise constant speed and uniform field strength, the rotor can be brought to a stop at any desired position. Such position can be the same as or different from the conventional full-increment or half-increment detent positions of the motor. This control method and device guarantee that there is no oscillation when the rotor reaches its final position.

METHOD AND APPARATUS FOR CONTROLLING A STEPPER MOTOR

METHOD AND APPARATUS FOR CONTROLLING A STEPPER MOTOR A method and apparatus for controlling a stepper motor of a disk drive is described for; minimisation of stepper motor oscillations for a single step, minimising the time taken for the stepper motor to move between tracks for multi-track seeks, and reduction of angular hysteresis due to the mechanical and magnetic properties of the stepper motor construction. This control is achieved using a microprocessorbased circuit adapted to drive the stepper motor in accordance with predetermined programs. Oscillations of the stepper motor are damped by controlling, using one program, the current applied to the stepper motor during the last step of its motion by switching this current on and off within small predetermined time intervals. The time taken to move between tracks is controlled by another program in which the non-linear torque speed characteristics of a particular stepper motor are matched by a non-linear pulse rate which is determined ...

PUNCH-TAPE-CONTROLLED SEWING APPARATUS

DIRECT-CURRENT STEPPING MOTOR DRIVE SYSTEM

METHOD AND APPARATUS FOR CONTROLLING A STEPPER MOTOR

AUTOMATIC POSITION CONTROL FOR A VEHICLE SEAT

POSITIONING CONTROL SYSTEM HAVING MEMORY FOR A MACHINE TOOL

LINEAR VELOCITY CHANGE STEPPING MOTOR CIRCUIT

DIGITAL CURRENT RAMPING TO REDUCE AUDIBLE NOISE IN STEPPER MOTOR

A stepper motor controller and method for controlling the motion of a stepper motor by selectively energizing the motor's windings so that the current level in the windings match a desired current profile. The motor controller comprises a master logic device, preferably a microprocessor or microcontroller, which is programmed with logic for issuing control signals corresponding to the sequence with which the windings of the stepper motor are energized and the desired current profile. A portion of the control signals are received by a slaved logic device, which is programmed with logic for generating ramp command signals corresponding to the desired current profile. The slaved logic device produces a ramp command signal that is received by a digital potentiometer, which preferably includes an up/down counter. The output signal produced by the digital potentiometer corresponds to a current count value of the up/down counter, and it is controlled by the ramp command signals. By controlling ...

AUTOMATICALLY POSITIONABLE CHAIR

A programmable automatic positioning chair for medical application. The chair has moveable support surfaces which are driven by electric motors to preprogrammed positions. Motor speed is determined by measuring the motor current, and the motor speed is integrated by a microprocessor to produce a computed value of surface position. The chair operates "open loop" without any feedback from position sensors.

Verfahren und Einrichtung zur Steuerung von beweglichen Organen an Werkzeugmaschinen.

Appareil de commande de la rotation de l'armature d'une machine électrique

Appareil transformant des signaux électriques en déplacements mécaniques, avec amplification de puissance

Machine à coudre permettant de réaliser automatiquement des points formant des motifs divers

Elektrische Steueranordnung für einen umsteuerbaren Antrieb eines Werkzeugmaschinenschlittens

Appareil pour produire des mouvements mécaniques sous la commande de plusieurs signaux électriques

Elektronische Programmsteuereinrichtung

Steuervorrichtung für einen Schrittmotor

Druckkommandoimpulsgesteuerte Nachführsteueranordnung, insbesondere zur Konturen- oder Positionssteuerung einer Werkzeugmaschine

Vorschub-Programmsteuerungseinrichtung für eine Elektrofunken-Abtragmaschine

Einrichtung zum Steuern eines elektrischen Schrittmotors

Numerischer Stellungsregler

Antrieb mit einem Schrittmotor

Einrichtung zum Führen eines Werkzeuges längs einer Kurvenbahn

Antriebseinrichtung mit einem Impulsmotor

Verfahren zum Nachführen einer Grösse

Elektromagnetische Verstelleinrichtung für die begrenzte Bewegung eines Körpers relativ zu einem anderen unter Verwendung von elektromagnetischen Verstellelementen

Steuervorrichtung mit mehreren Schrittschaltmotoren in einer Werkzeugmaschine

Elektrische Programmsteuereinrichtung für wenigstens eine Kopiermaschine

Dispositif de commande du déplacement d'une pièce suivant un programme

Steueranordnung für ein Arbeitsgerät

Verfahren und Vorrichtung zur Fehlerkompensation in einer numerischen Regelungsanlage

Numerische Steuervorrichtung für Werkzeugmaschinen

Einrichtung zum Verstärken des von einem elektrischen Schrittmotor abgegebenen Momentes

Einrichtung zum numerischen Steuern von Arbeitsmaschinen, insbesondere von Werkzeugmaschinen

Steuervorrichtung für einen Schrittschaltmotor

Vorrichtung zum Verschieben eines Maschinenelementes längs eines vorgegebenen Wegabschnittes

Elektronische Steueranlage für die Steuerung periodischer Bewegungsvorgänge

Verfahren und Vorrichtung zum Verschieben eines Maschinenelementes längs eines vorgegebenen Wegs

Betriebsverfahren für Stellmotoren und Anordnung zu dessen Durchführung

Einrichtung zur digitalen Steuerung einer Verstellspindel

Automatische Drehbank

SEWING MACHINE.

Circuit arrangement for producing stepping pulses for driving a stepping motor

ELECTRONIC SEWING MACHINE.

Electronically programmed needle swing and fabric feeder mechanisms

A sewing machine for one or several types of stitches has a driving mechanism for the presser foot feeding the fabric, the direction and the amplitude of which are adjustable. The needle bar slides in an oscillating bracket and the amplitude of this oscillation is also adjustable. At least one stepping motor is provided to energise (part of) the mechanism moving the pivoting bracket and/or (part of) the mechanism driving the presser foot. An electronic control system transmits signals to each motor representing its direction of motion and the number of steps to be taken.A very wide range of different types of stitches are produced varying in width and length.

Controller for position of moving element

Controller for position of moving element is performed by control circuit coupled to linear synchronous motor ...

MACHINE A [...].

ANALOGICAL DISPLAY DEVICE.

SEWING MACHINE.

Reversible gear system for removing backlash

Reversible gear system for removing backlash has separate drive gears for opposite directions of rotation ...

ENGINE EXPENSIVE MECHANISM.

METHOD OF OPERATING AN ELECTRIC MOTOR IN OPEN LOOP.

INCREMENTAL DRIVING DEVICE WITH A STEPPER MOTOR.

REGULATION DEVICE.

Device for Protecting a Work Spindle

In a device for protecting a work spindle ( 2 ) that is rotatably supported in a spindle head ( 4 A, 4 B) of a processing machine and/or a tool ( 3 ) clamped in the work spindle ( 2 ) from collisions with obstacles in the processing chamber ( 1 ) of the processing machine, a plurality of distance sensor modules ( 6 ) are arranged on or in a spindle nose ( 4 B) that forms the termination of the spindle head ( 4 A, 4 B) toward the processing chamber ( 1 ) such that they point toward the processing chamber ( 1 ) and are connected to a common signal processing unit ( 8 ). When an obstacle is present in a predetermined area of the processing chamber ( 1 ), this signal processing unit generates a warning signal based on the measuring signals delivered by the individual distance sensor modules ( 6 ). An output ( 15 ) of the signal processing unit, at which the warning signal is generated, is connected to the machine control ( 16 ) of the processing machine. The distance sensor modules ( 6 ) preferably consist of radar or ultrasonic sensor modules.

Offline teaching method

A three-dimensional rectangular coordinate system is set in which the direction of a weld line is the Y direction, a direction perpendicular to a surface of a material to be welded is the Z direction, and a direction perpendicular to the Y direction and the Z direction is the X direction. A coordinate system A of X A Y A Z A is set as a previous stage coordinate system, which ranges from a previous step to a current step, and a coordinate system B of X B Y B Z B is set as a next stage coordinate system, which ranges from the current step to a next step. The weld line is defined by these coordinate systems that use a workpiece as a reference, and an operator specifies the amount of travel of a torch in these workpiece coordinate systems. By this method, offline teaching can be accurately performed in a welding system without requiring skill in operation.

Temporary expanding integrated monitoring network

A system for monitoring an industrial process and taking action based on the results of process monitoring. Actions taken may include process control, paging, voicemail, and input for e-enterprise systems. The system includes an input module for receiving a plurality of parameters from a process for manufacture of a substance or object. The system also includes a library module. The library module includes a plurality of computer aided processes. Any one of the computer aided processes is capable of using each of the plurality of parameters to compare at least two of the plurality of parameters against a training set of parameters. The training set of parameters is generally predetermined. The computer aided process is also capable of determining if the at least two of the plurality of parameters are within a predetermined range of the training set of parameters. Additionally, the system includes an output module for outputting a result based upon the training set and the plurality of parameters.

Kinematic approximation algorithm having a ruled surface

In a method for producing at least one surface on a workpiece by a material removal tool and a corresponding material removal device, the surface is produced quickly and at low cost. Based on any surface to be produced, a movement path of the material removal tool is controlled to produce a ruled surface approximating to the surface, the movement path being provided in the form of a curve on a dual unit sphere, wherein a curve point corresponds to a location and an orientation of the removal tool. The curve can be produced based on ruling lines, which are converted into points, interpolated by a dual sphere spline interpolation algorithm, on the dual unit sphere by mathematical transformations. The curve can then be transformed back or can be used directly to follow the material removal tool. Likewise, directrix curves can be determined by the dual sphere spline interpolation algorithm.

Machined overdenture bar

Overdenture bars secured to a portion of a jaw bone provide a mounting platform for dental prosthetics. One method to form an overdenture bar includes obtaining a digital image of a portion of a mouth, transferring the image to a computer and forming a three dimensional image of the portion. A virtual overdenture bar is designed to terminate at opposing first and second distal ends and have a first thickness defined by opposing first and second surfaces. The overdenture bar has an extension projecting from at least one distal end adjacent the second surface. Each extension has a second thickness that is less than the first thickness. A socket extends through each extension for engagement with the dental prosthetic. A digital file of the virtual overdenture bar is transferred to a number controlled machine and the overdenture bar and extensions machined from a single piece of stock material.

Cutting plotter

A cutting plotter includes a medium supporter, a first guide rail, a second guide rail, a carriage, a work tool, a working controller, and a second direction displacement detector. The second direction displacement detector is configured to measure a second guide rail displacement amount. The second guide rail displacement amount indicates a magnitude of displacement of a moving path of the carriage from a predetermined moving path with respect to the second guide rail in a direction perpendicular to a second direction when the carriage is moved in the second direction along the second guide rail. The working controller is configured to execute a control in which a movement control of the second guide rail on the first guide rail is added so that the second guide rail displacement amount is corrected in a movement control of the carriage on the second guide rail.

Process for producing a toothed wheel having a herringbone gearing and a process and an apparatus for generating control data to form a herringbone gearing on a workpiece.

A process and an apparatus for generating control data, wherein a first tooth flank geometry is determined which corresponds to a geometry of a first tooth flank of the herringbone gearing, a second tooth flank geometry is determined which corresponds to a geometry of a second tooth flank of the herringbone gearing, a transition section geometry is determined which corresponds to a geometry of a transition section between the first tooth flank and the second tooth flank, an overall tooth flank geometry is determined which comprises the first tooth flank geometry, the transition section geometry and the second tooth flank geometry, and the control data is generated based on the overall tooth flank geometry and machining paths are indicated, each extending transversely to the profile direction of the tooth flanks and along the first tooth flank geometry, the transition section geometry and the second tooth flank geometry.

Method for determining the position of a tool

A machine tool ( 10 ) is equipped with a main spindle ( 24 ) movable via a machine control ( 26 ) and associated measuring systems ( 26 a ) relative to a workpiece holder ( 12 ) in a coordinate system ( 27 ) with a coordinate origin ( 28 ), and with a tool magazine ( 31 ) having storage spaces ( 30 ) for tools ( 25, 32, 33, 34 ). The main spindle ( 24 ) is moved into a tool change position in which a used tool ( 25 ) is exchanged for a new tool ( 32 ) to be used. A separate measuring system ( 43, 46 ) indicates whether the main spindle ( 24 ), in connection with the tool change, has assumed a measuring position ( 50 ) in which the position of the main spindle ( 24 ) relative to the coordinate origin ( 28 ) is determined via a machine control ( 26 ) and associated measuring systems ( 26 a ). This position is used in order to determine at least one correction value (Δy, Δz). A method for compensating for thermal displacements is carried out on the machine tool ( 20 )

Saddle-shaped trajectory generator for two intersecting pipes

An apparatus for generating a saddle-shaped trajectory for intersection of two cylindrical conduits. The apparatus includes an encoder module, a motorized axial module connected with the encoder module and movable only in a direction parallel to a longitudinal axis of an intersecting cylindrical conduit and a motorized rotatable module connected with the motorized axial module and rotatable around the longitudinal axis of the intersecting cylindrical conduit. Control software provided in one of the modules includes an algorithm providing control of the modules for generation of the saddle-shaped trajectory on the two cylindrical conduits. The algorithm requires input of only a radius of each of the cylindrical conduits.

Methods and apparatus for manufacturing objects having optimized response characteristics

A method for manufacturing an object having a potential {x} which is generated in response to a field {f} applied thereto is provided. The method includes the step of designing a geometric model of the object. A computerized mathematical model of the object is generated by discretizing the geometric model of the object into a plurality of finite elements and defining nodes at boundaries of the elements, wherein values of the field {f} and potential {x} are specified at the nodes. A material property matrix [k] is then calculated based on the relationship {f}=[k] {x}. Material property coefficients are then extracted from the material property matrix [k] for each finite element in the computerized mathematical model and the extracted material property coefficients are compared to material property coefficients for known materials to match the extracted material property coefficients to the material property coefficients for known materials. Manufacturing parameters corresponding to the matched material property coefficients are then determined. The object is then manufactured in accordance with the determined manufacturing parameters.

Controller for Machine Tool

A controller for a machine tool has a program storage section in which an NC program is stored, a program analyzing section analyzing the NC program block by block in sequence and extracts operation commands for a feed mechanism, an execution control section executing the extracted operation commands and thereby controlling the feed mechanism, e program editing section changing the NC program, and a change information storage section in which change information relating to the changed portion of the NC program is stored. The execution control section, when executing the operation commands, checks whether the block of each operation command is the block immediately preceding a block relating to the changed portion, and when judging that it is the immediately preceding block, temporarily stops the operation of the feed mechanism before or after the execution of the operation command.

Automated repair method and system

A method and system for automated repair of a machine component is provided. According to the proposed method, a first geometry of the component, including a damaged portion of the component, is digitalized. A trough is then machined over the damaged portion of the component. The machining is numerically controlled using digitalized geometrical data of the first geometry of the component. A second geometry of the component is then digitalized subsequent to the machining, the second geometry including the trough. Subsequently, a material is deposited over the trough. The deposition of the material is numerically controlled digitalized geometrical data of the second geometry of the component.

Equipment state detection apparatus, equipment state detection method, and computer-readable recording medium

In order to detect an operating state of equipment, when a plate material reaches a support part, a press machine outputs a start signal to move a press part downward. An input receiver receives input of the start signal. An operating detector detects that the press machine is in an operating state. When the press machine moves the press part upward, and shaping of the plate material ends, the press machine outputs a standby signal. The input receiver receives input of the standby signal. The detector detects that the press machine is in a standby state. When the plate material is again conveyed onto a roller conveyer from the support part, the press machine outputs a stop signal. The input receiver receives input of the stop signal. The detector detects that the press machine is in a stop state.

Tool path generation method and device

A tool path generation device for machining a workpiece with a machine tool including a reading and interpreting portion which reads out a tool path from a machining program, a target coordinate value calculating portion which sets a plurality of target points at equal intervals on the read out tool path, and a curve approximation calculating portion which generates a tool path based on the plurality of target points, so as to obtain a smooth machined surface without formation of step differences between adjacent tool paths.

Method For Creating A Robot Model And Industrial Robot

The invention relates to a method for creating a robot model ( 17 ) of an industrial robot ( 1 ) which has a robotic arm ( 2 ) having a plurality of successive limbs ( 3 - 8 ) which are adjustable by means of drives ( 11 - 16 ) via transmissions ( 5 ) in relation to axes (A 1 -A 2 ), controlled by a control device ( 10 ) of the industrial robot ( 1 ). According to the invention, the robotic arm ( 2 ) is moved in a plurality of poses. At least one of the limbs ( 4 ) is moved in the same first movement direction ( 18 ) by means of the drive ( 11 ) thereof at least upon approaching the individual poses. In order to obtain the robot model ( 17 ), the robotic arm ( 2 ) is measured at each of the poses thereof.

Method and program for calculating correction value for machine tool

The present invention provides a method of computing a correction value for the machine tool having two or more translational axes and one or more rotational axes for correcting error in a position and an orientation of the tool with respect to a workpiece due to the geometric error. The method includes a rotational axis correction value computing step (S 3 ) for computing a correction value for the rotational axis by use of a geometric parameter representing the geometric error, and a translational axis correction value computing step (S 4 ) for computing a correction value for the translational axis by use of a command value for each of the rotational axes, a command value for each of the translational axes, and the geometric parameter.

Method and program for calculating correction value for machine tool

The present invention provides a method and the like that are capable of calculating a correction value for a rotational axis and make it possible to correct an error in position or position and posture of a tool, which results from a geometric error, correct an error in posture of the tool, and also enhance the accuracy in machining by preventing a translational axis from operating in an infinitesimal manner due to a correction command. In a machine tool having two or more translational axes and one or more rotational axes, a correction value for each of the translational axes is calculated using a command position of each of the rotational axes, a coordinate value of a correction reference point as one point designated in advance in a command position space of each of the translational axes, and a geometric parameter representing the geometrical error.

Method, computer program, and system for performing interpolation on sensor data for high system availability

Provided is a method applied to a system including a plurality of sensors, a proxy, and a server. The method includes: measuring objects by the plurality of sensors to obtain first measurement values; computing a correlation among the first measurement values by the server based on the first measurement values; computing an actual measurement value of a second measurement value by the proxy based on the first measurement values and a given function; verifying the plurality of sensors by setting one or more sensors as verification target sensors in turn by the server at predetermined timing; computing a predicted value of the second measurement value by the server based on the correlation and the first measurement values obtained from the other sensors; and outputting the predicted value of the second measurement value instead of the actual measurement value thereof at least during the verification of the verification target sensors.

Field device having a display unit and method for operating the display unit

A method for operating a display unit, which is a component of a field device of process automation technology or is connectable to such a field device, The method includes: invoking a function of a display electronics associated with the display unit by a field device electronics associated with the field device, which function serves for visualizing textual information on the display unit; performing the function by the display electronics, wherein the performing of the function includes receiving textual information from the field device electronics, wherein the textual information is essentially free of composition information relevant to the visualizing of the textual information; and visualizing the transmitted textual information on the display unit based on a display schema stored, especially completely stored, in the display electronics of the display unit, which display schema contains composition information, especially in the form of layouts and/or fonts.

Thermal displacement correction method and thermal displacement correction device for machine tool

An inspection point positional information acquisition step of acquiring thermal displacement positions of at least three inspection points set on a support member; an approximate curve calculation step of calculating an approximate curve of a deformed shape of the support member on the basis of the thermal displacement positions of the inspection points; a correction value calculation step of calculating a correction value for a command position of a movable member on the basis of the command position and the approximate curve; and a correction step of correcting the command position of the movable member using the correction value, are provided.

Numerical controller having display function for trajectory of tool

A numerical controller capable of visually and accurately analyzing a change of the tool trajectory before and after changing a processing condition, whereby a parameter of a drive axis can be properly adjusted. The numerical controller comprises a numeric controlling part which controls each drive axis based on a predetermined position command; a position data obtaining part which obtains position data of each drive axis controlled by the numerical controlling part; a tool coordinate calculating part which calculates a coordinate of a tool center point based on position feedback or obtained position data of each drive axis and information of a mechanical structure of a machine tool; a tool trajectory storing part which stores the calculated coordinate of the tool center point as a feedback trajectory; and a displaying part which displays the stored feedback trajectory on a display.

Methods, Systems, And Apparatus For Calibration Of A Positional Offset Between An End Effector And A Position Sensor

Disclosed are systems and apparatus adapted to aid in calibration of an offset position—between a position sensor and an end effector in a processing system. The system includes a robotic component having an end effector and a position sensor coupled thereto, a teach target having a first geometrical feature, and an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature. The system further includes a moveable offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor. The end effector moves the offset tool to the offset target and docks them. A position of the teach target and the offset target may then be sensed with the position sensor to determine an actual offset of the end effector with respect to the position sensor. Methods of operating the system are provided, as are other aspects. 1. A method providing a positional offset , comprising:providing a robotic component having an end effector and a position sensor coupled thereto;providing a teach target within a work envelope reachable by the end effector, the teach target having a first geometrical feature;providing an offset target reachable by the end effector, the offset target including a second geometrical feature;providing an offset tool;sensing with the position sensor the first geometrical feature of the teach target;engaging the offset tool with the end effector;moving the offset tool to the offset target;docking the offset tool with the offset target; andsensing with the position sensor the second geometrical feature of the offset target.2. The method of claim 1 , further comprising recording one or more coordinates of the first geometrical feature sensed by the position sensor.3. The method of claim 1 , further comprising recording tool coordinates after docking the offset tool.4. The method of claim 3 , further comprising recording one ...

Method for avoiding an unwanted collision between a tool and a workpiece in a machine tool

A method for avoiding an unwanted collision between a tool and a workpiece in a machine tool is disclosed, wherein when a parts program starts to run, the determination of setpoint movement values for controlling a relative movement between tool and workpiece is started based on the parts program and a determination of the material removal at the workpiece by the tool is started based on the determined setpoint movement values. It is then checked whether a tool model overlaps with a workpiece model. When an overlap is detected, the relative movement between tool and workpiece is slowed down until the relative movement stops. A related facility employing the method for controlling a machine tool is also disclosed. Unwanted collisions between a tool and a workpiece in a machine tool can thus be avoided, while attaining short machining times for the workpiece.

Method for controlling an automated work cell

The invention relates to a control method applied to an automated work cell which includes at least one robot arm ( 4 ) having at least three degrees of freedom controlled according to a plurality of control axes (A 1 -A 6 ; X, Y, Z, Rx, Ry, Rz); a control centre ( 8 ); a device ( 6 ) for controlling the robot arm ( 4 ), which includes a plurality of motor controllers ( 61 - 66 ) each controlling the operation of one motor (M 1 -M 6 ), suitable for operating at least one portion of the robot arm ( 4 ); and a communication bus ( 14 ) between the control centre ( 8 ) and the device ( 6 ) for controlling the robot arm ( 4 ). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre ( 8 ) to control the control axes to a single arithmetic unit ( 10 ) belonging to the device ( 6 ) for controlling the robot ( 4 ); b) determining, within the arithmetic unit ( 10 ) and according to instructions received from the control centre ( 8 ), orders ( 0 ̂) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.

Robot teach device with 3-d display

A method and an apparatus for displaying three-dimensional workcell data includes a hand-held pendant that is provided with 3-D workcell data representing a model of a machine and associated components in a workcell. The hand-held pendant has a display that generates a 3-D visual representation of the workcell data. The pendant can be operated by a user to manipulate the visual representation to change a user viewpoint and to show motion of the machine with associated process information.

Machine vision system editing environment for a part program in which a continuous stream of image acquisition operations are performed during a run mode

A machine vision system editing environment is provided for a part program in which a continuous stream of image acquisition operations are performed during a run mode. In one embodiment, a new common syntax and representations are utilized wherein continuous image acquisition operations are recorded in the same way as regular operations, with the running of the part program being performed in two stages. In the first stage, the portion of the part program that is to have the continuous stream of image acquisition is scanned for image acquisition operations, and the most efficient order for acquiring the images is determined, after which the image acquisition process is begun. Then, in the second stage, while the image acquisition process is being performed, the portion of the part program is scanned again, with the image analysis operations then being performed.

NUMERICAL CONTROL APPARATUS

Disclosed is a numerical control apparatus including: a computing unit which calculates, based on a processing path, a moving distance of each support in a corresponding movement axis direction per set unit time; and a drive control unit which causes each driving device to transfer the support corresponding to that driving device in accordance with the moving distance of each support calculated by the computing unit. In response to input of a special command to a special command input device, the computing unit changes a length of the set unit time from a length in the state immediately before the input of the special command to a length corresponding to a velocity change instructed by the special command, and calculates, based on the processing path, the moving distance of each support in the corresponding movement axis direction per set unit time of which length has been changed. 1. A numerical control apparatus installed in a machine tool which includes: a plurality of transfer devices which transfer a movement target object , which is a workpiece or a tool to process the workpiece , when the workpiece is processed; and a special command input device for inputting , from outside , a special command for instructing an operation involving a velocity change of the movement target object separately from normal transfer of the movement target object performed when the workpiece is processed , each of the transfer devices including a support for supporting the movement target object , and a driving device which transfers the movement target object by transferring the support in a predetermined movement axis direction , the numerical control apparatus performing numerical control of each of the transfer devices and comprising:a storage unit which stores a processing command program which specifies a processing path to indicate a path where the movement target object is to move as a reference time elapses when the workpiece is processed;a computing unit which calculates, ...

Configuration mapping using a multi-dimensional rule space and rule consolidation

A configuration mapping system and method increase the effectiveness of mapping of information from an established product line to a new product offering. In at least one embodiment, the configuration mapping system herein uses configuration mapping rules to map individual product features and entire configurations from established products to a new product offering. The configuration mapping system also provides a way to appropriately map, for example, demand and sales information for the purpose of demand estimation and sales prediction. Conventionally, mapping can be ineffective because the configuration mapping rules usually focus on one part of the product at a time, and, if applied in isolation, the impact on other parts is missed. The systems and method herein provide a way to integrate configuration mapping rules across feature parts, time periods, and product lines into a unified, holistic view, allowing for new insights.

Trajectory control device

A trajectory control device controlling a trajectory of a movable portion includes a servo-system response-trajectory calculation unit that computes a servo-system response trajectory based on a position command of each movable axis, a shape-feature determination unit that outputs a shape feature amount including information of a position of a boundary point in a path shape and a running direction near the boundary point based on a determination from the position command whether the shape of the commanded path is straight or curved line, a position-vector correction unit that corrects a position vector based on the position command, the servo-system response trajectory and the shape feature amount, and outputs a corrected position command, and servo control units that control a motor of each movable axis by outputting a motor drive torque so that a position of each movable axis follows the corrected position command.

System and method for managing a machining file using a computing device

In a method for managing a machining file including a series of procedures in sequence using a computing device, names of the series of procedures are displayed in a procedure list area of the management page. If procedures require to be combined, the method receives user-selected procedures to be combined from a database area of the management page, and combines the selected procedures into a new procedure according to a predetermined combination format. If the machining file requires to be stored, the method stores all the procedures in the procedure list area into the machining file in sequence, and stores the machining file in a storage system of the computing device.

CALIBRATION METHOD FOR A SPHERICAL MEASUREMENT PROBE

Four basic measurements are performed when calibrating a spherical measurement probe fastened to a tool spindle having a fixed longitudinal position along the spindle axis. Moving the measurement probe transversely towards the calibration sphere yields a basic position of the tool spindle relative to an element with an attached calibration sphere, when measurement probe touches the calibration sphere. The measurement probe is rotated about the spindle axis from one basic measurement to the next by the same angle, whereas the orientation of the calibration sphere is maintained for all four basic measurements. Based on the basic positions, a reference position of the tool spindle relative to the element, at which the tool spindle is located above the calibration sphere and the spindle axis goes through a central point of the calibration sphere, is determined and taken into account in further calibration of the measurement probe. 1. A method for calibrating a spherical measurement probe fastened in a tool spindle of a machine tool and configured for rotation about a spindle axis , comprising the steps of:fastening a calibration sphere to an element of the machine tool,positioning the tool spindle relative to the element of the machine tool with at least three axis drives of the machine tool in three mutually independent translational directions,performing four basic measurements while during all four basic measurements holding the tool spindle constant at an identical longitudinal position, as viewed in a direction of the spindle axis, and holding the calibration sphere constant at the same orientation for all four basic measurements,moving in each basic measurement the measurement probe with the axis drives towards the calibration sphere in a corresponding transverse direction and measuring a corresponding basic position of the tool spindle relative to the element of the machine tool at which the measurement probe touches the calibration sphere, wherein the four ...

Numerical control program execution by robot

A system and a method for converting a machine tool program in NC programming language to permit a robot controller to execute the program. A robot controller converts the NC program into robot language according to a conversion configuration table, and uses the converted language as pseudo program data internally stored in a data memory within the robot controller. Each M-code (Miscellaneous code) in the NC program is executed as a sub-program call using the robot language. The content of the sub-programs can be freely defined and programmed by the user and, therefore, can be customized for the specific application.

Systems and Methods for Dynamic Prognostication of Machine Conditions for Rotational Motive Equipment

Methods and systems for prognosticating high efficiency machine conditions, and testing thereof such as with machine condition assay agenda recommendations, sequenced machine condition assay schematic recommendations, a machine maintenance exigency prognosticator, or the like perhaps responsive to valued information indicia, extrinsic influential information, or the like.

Method for closed-loop controlling a laser processing operation and laser material processing head using the same

The present invention relates to a method for closed-loop controlling a processing operation of a workpiece, comprising the steps of: (a) recording a pixel image at an initial time point of an interaction zone by means of a camera, wherein the workpiece is processed using an actuator having an initial actuator value; (b) converting the pixel image into a pixel vector; (c) representing the pixel vector by a sum of predetermined pixel mappings each multiplied by a corresponding feature value; (d) classifying the set of feature values on the basis of learned feature values into at least two classes of a group of classes comprising a first class of a too high actuator value, a second class of a sufficient actuator value and a third class of a too low actuator value at the initial time point; (e) performing a control step for adapting the actuator value by minimizing the error e t between a quality indicator y e and a desired value; and (f) repeating the steps (a) to (e) for further time points to perform a closed-loop controlled processing operation.

Method for optimizing the working conditions of a cutting tool

The invention relates to a method for acquiring the optimized parameters of a machining operation in the application of COM methodology, comprising: providing a plurality of readings indicative of the specific cutting energy (Kc) during an equal plurality of tests carried out with an imposed value, that is different from one test to another by at least one variable representative of the cutting operations, one of said variables being the cutting speed (Vc) and another being the advance rate (f); next determining a range of values of each of said variables including the optimal value for said variable obtained by means of processing the results for carrying out the machining operation; characterized in that a specific program ( 10 a ) of the digital control ( 7 ) is used for obtaining a continuous variation of the values of the variable during a single machining pass for a test, and in that the data read are formed during said single pass by the different values of the torque current (Iq) of the motor of the machine pin from which the corresponding values of (Kc) are derived by means of computational processing.

Numerical controller with auxiliary command execution function

When a program command read from a machining program is an auxiliary command, a command associated with the auxiliary command is transmitted. Monitoring of reception of a completion signal corresponding to the command is started. When the completion signal is not received, and when the auxiliary command is a command indicating the unnecessity of waiting to receive the completion signal, determination is made as to whether or not a condition for ending the monitoring of the completion signal corresponding to the auxiliary command is satisfied without receiving the completion signal. When the condition is satisfied, an error process is executed to end the execution of the machining program.

NUMERICAL CONTROL DEVICE

A numerical control device including a collision determining unit that detects a possibility of collision between a machine and an area set as an entry prohibited area; an operation-continuation instructing unit that instructs whether to continue an operation when the collision determining unit detects the possibility of collision and shaft movement is temporarily stopped; a machining-information storage unit that stores internal operation information of the numerical control device regarding the temporary stop when the operation-continuation instructing unit instructs continuation of the operation; and a collision-determination processing unit that invalidates a collision determination on the basis of the operation information stored in the machining-information storage unit when executing the same machining program the next and subsequent times 1. (canceled)2. A numerical control device having a function of preventing machine collision , the numerical control device comprising:a collision determining unit that detects a possibility of collision between a machine and an area set as an entry prohibited area;an operation-continuation instructing unit that instructs whether to continue an operation when the collision determining unit detects the possibility of collision and shaft movement is temporarily stopped;a machining-information storage unit that stores internal operation information of the numerical control device regarding the temporary stop when the operation-continuation instructing unit instructs continuation of the operation; and a collision-determination invalidation command for invalidating a collision determination of a corresponding program row of the machining program in which the possibility of machine collision has been detected; or', 'any one of a kind of interference check, current position coordinates of each shaft and original point information, which includes at least a machining-program row number of a corresponding program row of the ...

ROBOT CONTROLLER, ROBOT SYSTEM, ROBOT CONTROL METHOD

A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processor that obtains a solution of a differential equation in force control as the correction value before the conversion processing, and a nonlinear convertor that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processor and outputs the obtained correction value after the conversion processing. 1. A robot controller comprising:a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor;a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value; anda robot control unit that performs feedback control of the robot based on the target value,wherein the force control unit includes an impedance processor that obtains a solution of an differential equation in force control and outputs the obtained solution of the differential equation, and a nonlinear convertor that obtains the correction value by performing nonlinear conversion processing on the solution of the differential equation acquired from the impedance processor and outputs the obtained correction value.2. A robot controller comprising:a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor;a ...

Method and Apparatus for Controlling a Surface Scanning Coordinate Measuring Machine

A method improves surface scanning measure machine speed while minimizing tip touchdown impact on the surface of the object being measured. Specifically, the method controls a surface scanning measuring machine having a probe head with a distal probe tip that contacts the surface of an object to be measured. To that end, the method selects a nominal initial contact point (on the surface) having a normal vector, and then moves the distal probe tip toward the nominal initial contact point along an approach path. The approach path has a generally linear portion that generally linearly extends from the nominal initial contact point to some non-contacting point spaced from the surface. The generally linear portion forms an angle of between about 20 degrees and about 60 degrees with the normal vector. 1. A method of controlling a surface scanning measuring machine having a probe head with a distal probe tip , the distal probe tip being configured for contacting the surface of an object to be measured , the method comprising:selecting a nominal initial contact point on the surface, the nominal initial contact point having a normal vector; andmoving the distal probe tip toward the nominal initial contact point along an approach path, the approach path having a generally linear portion that generally linearly extends from the nominal initial contact point to some non-contacting point spaced from the surface, the generally linear portion forming an angle with the normal vector of between about 20 degrees and about 60 degrees.2. The method as defined by further comprising:moving the distal probe tip along an offset path and to an initial scan point from a contact point related to the nominal initial contact point;moving the distal tip along a scan path from the initial scan point and along the surface of the object,the distal probe tip moving continually along and between the approach path, the offset path, and the scan path.3. The method as defined by wherein the generally ...

Total joint arthroplasty system

A method and system for performing a total joint arthroplasty procedure on a patient's damaged bone region. A CT image or other suitable image is formed of the damaged bone surfaces, and location coordinate values (x n ,y n ,z n ) are determined for a selected sequence of bone surface locations using the CT image data. A mathematical model z=f(x,y) of a surface that accurately matches the bone surface coordinates at the selected bone spice locations, or matches surface normal vector components at selected bone surface locations, is determined. The model provides a production file from which a cutting jig and an implant device (optional), each patient-specific and having controllable alignment, are fabricated for the damaged bone by automated processing. At this point, the patient is cut open (once), the cutting jig and a cutting instrument are used to remove a selected portion of the bone and to provide an exposed planar surface, the implant device is optionally secured to and aligned with the remainder of the bone, and the patient's incision is promptly repaired.

Structure modeled on a biological tissue and method for producing said structure

The present invention relates to a method for producing a structure modeled on a biological tissue. The invention also relates to a structure which can be produced using the method according to the invention. According to an embodiment of the invention, a precursor of a biopolymer is locally irradiated with electromagnetic radiation in a targeted manner, wherein the irradiation, in particular the selection of the areas to be irradiated, is effected according to data which describe a structural construction at least components of the extracellular matrix of the biological tissue. In this case, the electromagnetic radiation is such that two-photon or multi-photon absorption takes place in the irradiated areas of the precursor and results in the precursor being polymerized to form the biopolymer in the irradiated areas, with the result being that the precursor is at least partially solidified there.

MOTOR CONTROL DEVICE AND IMAGING APPARATUS

A motor control device includes a counter that counts pulses output from a one-phase encoder according to rotation of a DC motor, and a controller that recognizes rotation number of the DC motor based on the number of pulses counted by the counter. After the DC motor is braked, the controller starts applying a predetermined voltage to the DC motor at first timing before the DC motor stops, and stops applying the predetermined voltage at second timing after the DC motor stops. The controller subtracts the number of pulses generated after the second timing from a value counted by the counter. The predetermined voltage is lower than a lowest voltage necessary for driving a driven object, and is higher than a lowest voltage necessary for rotating the DC motor against an attracting force between a magnet and a coil in the DC motor. 1. A motor control device for controlling rotation of a DC motor for driving an object , comprising:a counter configured to count a pulse output from a one-phase encoder according to rotation of the DC motor; anda controller configured to recognize a rotation number of the DC motor based on the number of pulses counted by the counter, whereinafter the DC motor which is being driven is braked, the controller starts applying a predetermined voltage to the DC motor at a first timing which is a timing before the DC motor stops, and stops the applying of the predetermined voltage at a second timing which is a timing after the DC motor stops,the controller subtracts the number of pulses generated after the second timing from a value counted by the counter, andthe predetermined voltage is lower than a lowest voltage necessary for driving the object to be driven and higher than a lowest voltage necessary for rotating the DC motor against an attracting force between a magnet and a coil in the DC motor.2. The motor control device according to claim 1 , wherein the controller starts the applying of the predetermined voltage to the DC motor claim 1 , when ...

SIMULTANEOUS RETOOLING OF PROCESSING DEVICES

A method, a system and a processing device for simultaneous manual retooling of at least two units or for simultaneous exchange of at least two format parts within a processing device. The processing device includes at least two working areas, each including a retooling area, a working opening and an activation device. The working openings exist in an open retooling state or in a closed processing state. For retooling at least two of the working openings are opened. The actual state of the working openings of at least two working areas is determined. Furthermore the activation of at least one activation device is recognized. If the activation devices of open working openings are activated simultaneously, a repositioning of convertible units or format parts is triggered. 113-. (canceled)14. A method for simultaneous manual retooling of at least two units or for simultaneous exchange of at least two format parts or convertible units within a processing device comprising at least two working areas , each of the working areas comprising a retooling area , a working opening and an activation device , the working openings each capable of assuming an open retooling state or a closed processing state , the method comprising the steps of:opening at least two of the working openings for a simultaneous retooling of the processing device;determining an actual state of the working openings of at least two working areas;recognizing the activation of at least one activation device; andtriggering a repositioning of at least two format parts or convertible units in the at least two retooling areas, if the activation devices of all open working openings are activated simultaneously, or not triggering the repositioning of the at least two format parts or convertible units in the at least two retooling areas or actively preventing the repositioning if none, just one or just a part of the activation devices of all open working openings are activated simultaneously.15. The method as ...

Generation Method and Generation Apparatus of Tool Path

The objective of the present invention is to generate a new tool path quickly by means of a simple calculation formula without calculating an approximated curve and the like. A tool path is generated with procedures that include: a distance calculation procedure, whereby one of the processing points (Pi) on a multiple rows of tool paths (PA) obtained by connecting multiple prescribed processing points sequentially with straight lines is set as a revision processing point (Pt), points on the multiple rows of tool paths in the vicinity of this revision processing point (Pt) are set as distance calculation points (Pu), and the distance (L) from the revision processing point (Pt) to each of the distance calculation points (Pu) is calculated; an extraction procedure, whereby the distance calculation points (Pu′) for which the distance (L) calculated by the distance calculation procedure is within a prescribed value (ΔL) are extracted; a mean value calculation procedure, whereby the mean values of the position data for the distance calculation points (Pu′) extracted by the extraction procedure and the position data for the revision processing point (Pt) are calculated; and a data revision procedure, whereby the position data for the revision processing point (Pt) is revised by means of the mean values calculated by the mean value calculation procedures, and a new tool path (PA′) is created on the basis of the position data for the revised processing point (Pt′). 1. A generation method of a tool path for generating a tool path at a time of machining a workpiece , comprising:a distance calculation step of calculating distances from a correction machining point to respective distance calculation points, the correction machining point being one machining point on a plurality of tool paths obtained by successively connecting predetermined pluralities of machining points by line segments, the distance calculation points being points on the plurality of tool paths located around ...

Information processing apparatus, information processing method, and medium

An information processing apparatus controls position measurement performed by a position measurement device. The apparatus includes a memory and a processor that executes a process in the memory. The process includes acquiring schedule information associated with the position measurement device and including a start time and an end time, acquiring position information acquired by the position measurement device, and extending a position measurement cycle of the position measurement device compared to a position measurement cycle before the start time of the schedule information when positions that respectively correspond to a plurality of pieces of position information acquired between the start time and the end time are in a given area.

Dynamic pulse-width modulation motor control and medical device incorporating same

Apparatus are provided for motor control systems and related medical devices. In one embodiment, a control system includes a motor having a rotor, a sensor to obtain a measured displacement that is influenced by rotation of the rotor, and a control module coupled to the sensor. The control module adjusts a duty cycle for a modulated voltage applied to the motor in response to a difference between an expected displacement and the measured displacement. The expected displacement is influenced by or otherwise corresponds to a commanded rotation of the rotor.

APPARATUS AND METHOD FOR DETECTING DAMAGE TO TOOL IN MACHINE

The apparatus for detecting damage to the tool in the machine and the method of detecting damage to the tool according to the present disclosure are applied to a machine, such as a CNC, to detect and control damage to a tool and possibility of damage in advance, thereby efficiently managing processing work by the machine while achieving safety of the machine. 1. An apparatus for detecting damage to a tool in a machine , comprising:a detector configured to receive a current signal according to torque from a servo and a spindle of a machine;a simulator configured to calculate a prior processing condition by using information input from a numerical controller of the machine;a tool DB configured to store a torque value measured at the time of prior processing of a currently mounted tool and information on a processing condition;a tool manager configured to record the torque value measured at the time of the prior processing by the currently mounted tool and a corresponding tool and the information on the processing condition in the tool DB or extracting information from the tool DB;a critical torque calculator configured to receive information recorded in the tool DB from the tool manager, and calculate a range of torque predicted to be generated during processing work by using the prior processing condition calculated by the simulator;a critical torque data storing unit configured to store an upper limit value and a lower limit value of the torque predicted by the critical torque calculator;a comparator configured to compare the torque measured by the detector and a critical torque range from the critical torque calculator; anda controller configured to control a processing operation of the machine according to a result of the comparison by the comparator.2. The apparatus of claim 1 , wherein the machine processing operation controller comprises:a tool damage prevention unit configured to control so that the machine is operated under an adjusted processing condition by ...

NUMERICAL CONTROL DEVICE

A numerical control device for a working machine capable of controlling a tool posture relative to a workpiece using rotational driving of a rotary drive axis about a machine control point includes: an interpolation unit that performs an interpolation process on moving data generated from a machining program and outputs a position of the machine control point for each interpolation point; a coordinate transformation unit that transforms a position of the machine control point to a tool tip-point position; a stroke-limit determination unit that determines whether the position of the machine control point and the tool tip-point position fall within a range of a movable region, and selects and outputs a stroke limit signal indicating a stroke limit and a tool-posture changing command for instructing change of the tool posture; and a tool-posture changing unit that changes the tool posture in response to the tool-posture changing command. 1. A numerical control device for a working machine capable of controlling a tool posture relative to a workpiece using rotational driving of a rotary drive axis about a machine control point , the numerical control device comprising:an interpolation unit that performs an interpolation process on moving data generated from a machining program, and outputs a position of the machine control point for each interpolation point;a coordinate transformation unit that transforms a position of the machine control point to a tool tip-point position;a stroke-limit determination unit that determines whether or not the position of the machine control point and the tool tip-point position fall within a range of a movable region, and selects and outputs a stroke limit signal indicating a stroke limit and a tool-posture changing command for instructing change of the tool posture; anda tool-posture changing unit that changes the tool posture in response to the tool-posture changing command.2. The numerical control device according to claim 1 , ...

NUMERICAL CONTROL APPARATUS

A numerical control apparatus includes an imaginary-Y-axis control unit configured to execute an imaginary Y-axis control mode which is a mode for converting an X-Y axes movement command in a machining program described in a program coordinate system into a command in a machine coordinate system including X-H-C axes and for driving the X axis, the H axis, and the C axis in association with one another according to the converted command, an acquiring unit configured to acquire, when an emergency stop occurs during the imaginary Y-axis control mode, present positions of the X axis, the C axis, and the H axis at the time when the emergency stop is released, and a restoring unit configured to restore a present X-axis coordinate position and a present Y-axis coordinate position in the program coordinate system from the acquired present positions of the X axis, the C axis, and the H axis. 1. (canceled)2. A numerical control apparatus that controls a machine tool including an X axis for moving a turret to which a plurality of tools are attached , a H axis for rotating the turret , and a C axis for rotating a work and not including a Y axis orthogonal to the X axis , the numerical control apparatus comprising:an imaginary-Y-axis control unit configured to execute an imaginary Y-axis control mode, the imaginary Y-axis control mode being a mode for converting an X-Y axes movement command in a machining program described in a program coordinate system into a command in a machine coordinate system including X-H-C axes and for driving the X axis, the H axis, and the C axis in association with one another according to the converted command;an acquiring unit configured to acquire, when an emergency stop occurs during the imaginary Y-axis control mode, present positions of the X axis, the C axis, and the H axis at time when the emergency stop is released;a restoring unit configured to restore a present X-axis coordinate position and a present Y-axis coordinate position in the ...

HORIZONTAL MACHINE TOOL

Provided is a horizontal machine tool which achieves remarkable accuracy improvement by correcting spatial accuracy while stabilizing the swing of a main spindle. To this end, a horizontal machine tool () is provided with: a ram tension bar () which corrects the deflection of a ram (); a lifting force correction mechanism () which corrects the inclination of a saddle () by adjusting lifting force at two positions where the saddle () is lifted; a column tension bar () which corrects the bend of a column (); and a control device which controls the ram tension bar (), the lifting force correction mechanism () and the column tension bar () and has a spatial accuracy correction function of correcting the spatial accuracy by numerical control. The control device corrects only the swing of the tip of a main spindle () using the ram tension bar (), the lifting force correction mechanism () and the column tension bar (), and corrects the deterioration of the spatial accuracy due to sinking of a bed () using the spatial accuracy correction function. 1. A horizontal machine tool including; a column provided on a bed to be movable in a horizontal direction; a saddle supported on a lateral surface of the column to be movable in a vertical direction; and a ram held by the saddle to be movable in a horizontal direction and provided with a main spindle at a front end , the horizontal machine tool comprising:a ram tension bar configured to correct deflection of the ram;a suspending force correcting mechanism configured to correct inclination of the saddle by adjusting suspending forces at two positions for suspending the saddle;a column tension bar configured to correct bending of the column; anda control device configured to control the ram tension bar, the suspending force correcting mechanism, and the column tension bar and having a spatial accuracy correcting function of correcting a spatial accuracy by numerical control, wherein corrects only swinging of a front end of the main ...

MACHINE TOOL

A machine tool includes a controller including a storage unit that stores correction history data including correction amounts of the positions of tools input from a worker and time when the correction amounts are input, in association with the tools; and a display device that can display a time-based graph showing a relationship between the time and the correction amount for each tool. 1. A machine tool comprising:a controller including a storage unit that stores correction history data including correction amounts of the positions of tools input from a worker and time when the correction amounts are input, in association with the tools; anda display device that displays a time-based graph showing a relationship between the time and the correction amount for each tool.2. The machine tool according to claim 1 ,wherein the correction history data include the number of machined workpieces at the time of the input of the correction amount, andthe display device switches and displays the time-based graph and a machining-based graph showing a relationship between the number of machined workpieces and the correction amount for each tool.3. The machine tool according to claim 2 ,wherein when a direction where a spindle extends is defined as a spindle direction and a direction orthogonal to the spindle direction is defined as an orthogonal direction, the display device displays and switches the time-based graph and the machining-based graph for each of the spindle direction and the orthogonal direction.4. The machine tool according to claim 1 ,wherein the display device displays and switches a graph display mode screen that displays the time-based graph for each tool and a data display mode screen that displays the correction history data for each tool.5. The machine tool according to claim 2 ,wherein the display device displays and switches a graph display mode screen that displays the time-based graph for each tool and a data display mode screen that displays the ...

MACHINING ERROR CALCULATION APPARATUS, MACHINING ERROR CALCULATION METHOD, MACHINING CONTROL APPARATUS AND MACHINING CONTROL METHOD THEREOF

The present invention discloses a machining error calculation apparatus for calculating the machining error more precisely through analysis. The apparatus comprises: a tool center displacement amount calculation part for calculating a displacement amount of a rotation center of the rotation tool according to the cutting resistance force in the rotation tool, in the case that the cutting resistance force generated in the rotation tool during said interrupted cutting is varied; a relative tool-edge position calculation part for calculating a relative tool-edge position of the cutting-edge portion with respect to the rotation center of the rotation tool; an absolute tool-edge position calculation part for calculating an absolute tool-edge position of the cutting-edge portion with respect to the workpiece, based on the displacement amount of the rotation center of the rotation tool and the relative tool-edge position; a machined shape calculation part for calculating the machined shape of the workpiece through transferring the absolute tool-edge position on the workpiece; and a machining error calculation unit for calculating a machining error of the workpiece based on a difference between the machined shape of the workpiece and an objective shape of the workpiece. 1. A machining error calculation apparatus , for calculating a machining error for an interrupted cutting , said interrupted cutting using a rotation tool which is provided with one or more of cutting edge portions in the circumferential direction on the peripheral circumference thereof , being carried out in such a way that the rotation tool is rotated around its axis while moved relatively with respect to a workpiece , comprising:a tool center displacement amount calculation unit configured to calculate a displacement amount of a rotation center of the rotation tool according to the cutting resistance force in the rotation tool, in the case that the cutting resistance force generated in the rotation tool ...

ERROR MEASURMENT DEVICE AND ERROR MEASUREMENT METHOD

The present invention has a rotation-axis geometric-deviation measuring step of measuring a position and a tilt of a rotation-axis center line by measuring a position of a point on a surface of a workpiece fixed to a rotation axis, a geometric-deviation-parameter setting step of setting a correction amount of the measured position and tilt of the rotation-axis center line in a numerical control device, a workpiece-installation-error measuring step of measuring an installation position and a tilt of the workpiece with reference to the position of the rotation-axis center line, and a workpiece-installation-error parameter setting step of setting the measured installation position and tilt of the workpiece in the numerical control device, and accordingly enables measurement of a position and a tilt of the rotation axis center by measuring the position of a point on the workpiece surface in a state where the workpiece is fixed to the rotation axis. 1. An error measurement device that measures a position and a tilt of a rotation-axis center line and an installation position and a tilt of a workpiece in a numerical-control machine tool having a translation axis and a rotation axis , the error measurement device comprising:a rotation-axis geometric-deviation measurement unit that measures a position and a tilt of the rotation-axis center line by measuring a position of a point on a surface of the workpiece fixed;a geometric-deviation-parameter setting unit that sets the measured position and tilt of the rotation-axis center line in a numerical control device;a workpiece-installation-error measurement unit that measures an installation position and a tilt of the workpiece with reference to the position of the rotation-axis center line; anda workpiece-installation-error parameter setting unit that sets the measured installation position and tilt of the workpiece in a numerical control device, whereinmeasurement of a position and a tilt of the rotation-axis center line by the ...

METHOD AND SYSTEM FOR TESTING A MACHINE TOOL

A method of testing a machine tool comprising processing circuitry arranged to control a material remover, in which the method comprises: 1. A method of testing a machine tool comprising processing circuitry arranged to control a material remover , in which the method comprises:a) generating a test path to be processed by the processing circuitry to cause the material remover of the machine tool to move along a predetermined path;b) causing the processing circuitry to execute the test path and move the material remover along the test path;c) timing at least one of the performance of the processing circuitry and the movement of the material remover along the test path to generate machine tool timings; andd) using the machine tool timings to set limits which are arranged to subsequently be used when cutting paths are generated for the machine tool for which the test path has been generated.2. The method of in which material remover is caused to execute the test path with no work-piece present.3. The method of in which the material remover is caused to execute at least one closed test path claim 1 , and typically a plurality of closed test paths claim 1 , as part of the test path.4. The method of in which the material remover claim 3 , in a first part of the test claim 3 , executes a single closed test path having a parameter of a first value and latterly to execute claim 3 , in a second part of the test claim 3 , a plurality of closed test paths having the parameter set at that first value.5. The method of in which the material remover is caused to perform at least one claim 3 , and typically both claim 3 , of the first and second parts of the test path a plurality of times with a parameter of the test path being performed being varied between executions.6. The method of in which the parameter is the radius of at least a portion of the closed test path.7. The method of in which the material remover is:a. caused to execute the closed test path with a parameter of a ...

Driver circuit and method

An amount of a motor drive current is controlled to an appropriate value. Two coils are provided, and a rotor is rotated by the coils by setting different phases for the supplied currents to the two coils. During a phase where one of the coils is in a high-impedance state, an induced voltage generated in the coil is detected. According to the state of the induced voltage, an output control circuit controls the amounts of the motor drive currents supplied to the two coils.

ROBOT CONTROLLING APPARATUS AND ROBOT CONTROLLING METHOD

To allow a robot body to quickly resume operation, using simple control, when a main power supply is restored after a failure. A calculation unit divides a series of operations of the robot body into a plurality of operation blocks in advance and causes the robot body to perform operations sequentially from one operation block to another using power supplied from the main power supply (S to S). The calculation unit causes the robot body to continue operation using the power supplied from an auxiliary power supply, even if the main power supply fails, until the operation block being processed at the time of the failure of the main power supply out of the plurality of operation blocks is finished (S). The calculation unit causes the robot body to stop operation, when the operation block being processed at the time of the failure of the main power supply is finished, until the main power supply is restored from the failure (S). When the main power supply is restored from the failure, the calculation unit causes the robot body to resume operation beginning with an operation block next to the operation block caused by the calculation unit to be performed by the robot body in the process of step S (S S and S). 2. The robot controlling apparatus according to claim 1 , wherein when the robot body stops operation claim 1 , the operation stopping unit causes the robot body to assume a predetermined posture.3. The robot controlling apparatus according to claim 1 , wherein the operation controlling unit divides the series of operations of the robot body so as to equalize operation time of the robot body among the operation blocks.4. The robot controlling apparatus according to claim 1 , wherein the operation controlling unit divides the series of operations of the robot body so as to equalize an amount of electrical power consumed by motions of the robot body among the operation blocks.5. A robot controlling method for controlling a robot body which runs on power supplied from ...

Semiconductor integrated circuit and operation method thereof

It is intended to reduce the amount of computation to be performed by CPU or the required amount of storage space in a built-in memory for timing adjustment of a pulse output signal. A digital multiplying circuit in the phase arithmetic circuit of the pulse generating circuit generates a multiplication output signal by multiplying a phase angle change value in the phase adjustment data register and a count maximum value Nmax in the cycle data register. A digital dividing circuit generates a division output signal by dividing the multiplication output signal by 360 degrees of phase angle for one cycle. A digital adding circuit adds the division output signal and rise setting/fall setting count values and a subtracting circuit subtracts the division output signal from these values. The addition and subtraction generate new rise setting/fall setting count values required to delay/advance the phase by the phase angle change value.

Electric discharge machine and electric discharge machining system

To make corrections as effectively as possible according to an environmental temperature of an installation location, an electric discharge machine includes a temperature-displacement measurement unit that measures a transition of a displacement of a reference position and a transition of detected values of temperature sensors, a correction-coefficient calculation unit that calculates correction-coefficient calculated values based on a measurement result of the temperature/displacement measurement unit, a confirmation display unit that displays the measurement result of the temperature/displacement measurement unit and that prompts to input whether to use the correction-coefficient calculated values, and a change-agreement confirmation unit that updates correction-coefficient set values stored in a correction-coefficient set-value storage unit to the correction-coefficient calculated values when an input to an effect of using the correction-coefficient calculated values is received.

PROFIT MILLING

Methods and devices for computer-assisted milling of a pocket region of a workpiece by computing a blend arc radius, where the blend arc radius is based on a maximal variation of a Tool Engagement Angle (TEA), and smoothing at least one offset, where the smoothing is based on the computed blend arc radius and/or a prior computed blend arc radius with a stepover. 1. A method of milling a pocket region of a workpiece , the method comprising:computing a blend arc radius, wherein the blend arc radius is based on a maximal variation of a Tool Engagement Angle (TEA); andsmoothing at least one offset, wherein the smoothing is based on at least one of: the computed blend arc radius and a prior computed blend arc radius with a stepover.2. The method of claim 1 , wherein the Material Removal Rate (MRR) does not exceed a specified value during milling and the federate change and TEA change are within an acceptable range.3. The method of claim 1 , wherein smoothing at least one offset further comprises:calculating a first smoothing phase, wherein the first smoothing phase comprises at least one of: breaking an offset and replacing a partial offset with blends where the tool engagement has significant changes.4. The method of claim 3 , wherein smoothing at least one offset further comprises:calculating a second smoothing phase, wherein the second smoothing phase comprises at least one of: finding at least one narrow area formed by at least two or more blend arcs and partial offsets between the blend arcs; removing at least one narrow area formed by at least two or more blend arcs and partial offsets between the blend arcs; and generating at least one narrow area formed by at least two or more blend arcs and partial offsets between the blend arcs.5. The method of further comprising:generating trochoidal movements to replace the partial offsets.6. The method of further comprising:connecting offsets and generated trochoidal movements in the at least one narrow area, wherein the ...

CAM INTEGRATED CNC CONTROL OF MACHINES

Systems and Methods for Computer Numerically Controlled (CNC) devices comprising a CNC integrated Computer-Aided Manufacturing (CAM) controller configured to input a CAD file and output a CAM file and a CAM integrated CNC controller configured to input the CAM file and output at least one command for at least one servo controller of a set of one or more servo controllers. 1. A Computer Numerically Controlled (CNC) system comprising:a CNC integrated Computer-Aided Manufacturing (CAM) controller, wherein the CNC integrated CAM controller is configured to receive a Computer-Aided Design (CAD) file and output at least one CAM file; and receive the at least one CAM file; and', 'output at least one command for at least one servo controller of a set of one or more servo controllers;, 'a CAM integrated CNC controller, wherein the CAM integrated CNC controller is configured towherein a user, via a user interface of the CAM integrated CNC controller, can modify at least one of: the received CAM file and the outputted at least one command for the at least one servo controller.2. The system of claim 1 , wherein the CNC integrated CAM controller is configured to determine claim 1 , by the CAM claim 1 , at least one of: a tool speed claim 1 , a tool acceleration claim 1 , and at least one servo motor current.3. The system of claim 1 , wherein the CAM integrated CNC controller is configured to control claim 1 , by the CAM claim 1 , at least one of: a tool speed claim 1 , a tool feed claim 1 , and a tool acceleration.4. The system of claim 1 , wherein at least one machine parameter in the CNC integrated CAM controller corresponds to at least one machine parameter of the CAM integrated CNC controller.5. The system of claim 1 , wherein the CAM integrated CNC controller is further configured to:display, by the CAM, at least one of: a real-time limit for at least one cutting tool;and at least one alternative toolpath strategy for the real-time limit.6. The system of wherein the real- ...

Simulation apparatus of numerical controller

A simulation apparatus of a numerical controller that controls a movable unit of a machine tool on the basis of a machining program sequentially generates, when the machining program includes a machining cycle command, a series of movement commands from designated work shape data and machining conditions, and stores the movement commands in a memory. The simulation apparatus displays the machining program and a moving image of the machining program in first and second areas of a display screen and displays the movement commands generated from the machining cycle command in a third area of the display screen.

Numerical controller for machine tool with work supporting control part

A numerical controller has a work supporting control part that supports a work in manufacture or maintenance of a machine tool to be controlled. The work supporting control part has a motor drive command storage part that stores motor drive commands associated with work items. When a work item is selected on a screen, a guidance that describes the content of the work item and a setting item or check item associated with the work item are displayed on the screen. Then, in response to an operation signal output from an operation part, a motor drive command associated with the selected work item is read from the motor drive command storage part and output to a driving control part.

Idle stop control device

Disclosed is an idle stop control device that automatically shuts down an engine when a first condition is satisfied, and then restarts the engine using a starter to which electricity is fed through a brush when a second condition is satisfied, the idle stop control device including a start-operation brush wear amount computing unit that is configured to compute a brush wear amount in a single start operation, a total brush wear amount computing unit that is configured to compute a total brush wear amount by integrating the brush wear amount in a single start operation, and an automatic engine shutdown prohibiting unit that is configured to prohibit an automatic engine shutdown when the total brush wear amount is equal to or larger than a warranty driving wear amount of the starter.

PRODUCTION INSTALLATION WITH TIME-INDEXED HISTORICAL DISPLAY

Production installation for the automated manufacture of parts, particularly a pallet circulating installation for the manufacture of reinforced concrete elements and/or an installation for manufacturing reinforcement elements, having an electronic control computer which is connected to sensors and control elements in the production installation and controls the production sequence, wherein at least one display device is provided for the schematic graphical representation of the production installation and the current state data therefor, wherein a mass memory is provided which can be used to store the state data for the production installation in time-indexed fashion over a period which goes beyond the production time for a part, and wherein also an electronic computer unit and a display device are provided which can be used to retrieve and graphically display the historical state data stored in the mass memory, together with a schematic graphical representation of the production installation. 1. A production facility for automatically manufacturing parts , in particular a pallet carousel facility for manufacturing reinforced concrete elements and/or production facility for manufacturing reinforcement elements , having an electronic control computer , which is connected to sensors and control elements of the production facility and controls the production functional sequence , wherein at least one display device is provided for the schematic graphical representation of the production facility and the current status data thereof , characterized in that a mass data storage means is provided , in which the status data of the production facility can be stored in a time-indexed manner over a period that goes beyond the production time for a part , and in that , furthermore , an electronic computer unit and a display device are provided , by means of which the historical status data stored in the mass data storage device , together with a schematic graphical ...

COORDINATE POSITIONING MACHINE CONTROLLER

A coordinate positioning apparatus including: a coordinate positioning machine having a measuring probe for interacting with an artefact to obtain measurement data regarding the artefact. The measuring probe and artefact are moveable relative to each other in at least one machine degree of freedom. The apparatus further includes a hand-held device, moveable in free-space in a plurality of device degrees of freedom, for controlling movement of the measurement probe relative to the artefact. The hand-held device includes at least one motion sensor for sensing movement of the hand-held device in free-space. The apparatus is configured such that the relative movement of the measurement probe and artefact is controlled by said movement of the hand-held device in free-space. 1. A coordinate positioning apparatus comprising:a coordinate positioning machine having a measuring probe for interacting with an artefact to obtain measurement data regarding the artefact, the measuring probe and artefact being moveable relative to each other in at least one machine degree of freedom; anda hand-held device, moveable in free-space in a plurality of device degrees of freedom, for controlling movement of the measurement probe relative to the artefact, in which the hand-held device comprises at least one motion sensor for sensing movement of the hand-held device in free-space,in which the apparatus is configured such that the relative movement of the measurement probe and artefact is controlled by said movement of the hand-held device in free-space.2. An apparatus as claimed in claim 1 , in which changing the orientation of the hand-held device in a rotational degree of freedom controls the relative movement of the measurement probe and artefact in a linear degree of freedom.3. An apparatus as claimed in claim 1 , in which a given device degree of freedom is tied to a particular machine degree of freedom claim 1 , such that movement in that given device degree of freedom controls ...

NATURAL MACHINE INTERFACE SYSTEM

A method for defining a robotic machine task. The method comprises a) collecting a sequence of a plurality of images showing at least one demonstrator performing at least one manipulation of at least one object, b) performing an analysis of said sequence of a plurality of images to identify demonstrator body parts manipulating said at least one object and said at least one manipulation of said at least one object, c) determining at least one robotic machine movement to perform said task, and d) generating at least one motion command for instructing said robotic machine to perform said task. 1. A method for defining a robotic machine task , comprising:collecting a sequence of a plurality of images showing at least one demonstrator performing at least one manipulation of at least one object;performing an analysis of said sequence of a plurality of images to identify demonstrator body parts manipulating said at least one object and said at least one manipulation of said at least one object;determining at least one robotic machine movement to perform said task; andgenerating at least one motion command for instructing said robotic machine to perform said task.2. The method of claim 1 , wherein said sequence of a plurality of images is collected by at least one depth map sensor.3. The method of claim 1 , wherein said sequence of a plurality of images is collected by at least one digital camera.4. The method of claim 1 , where said robotic machine task is to perform said object manipulation modified by any combination of scale claim 1 , translation claim 1 , rotation claim 1 , symmetry claim 1 , skew claim 1 , or shear transformations in the space or time dimensions resulting in a modified object manipulation task by said robotic machine.5. The method of claim 1 , wherein said motion commands are adjusted to take into account robotic machine capabilities of different types claim 1 , makes claim 1 , and models.6. The method of claim 1 , wherein said demonstration is ...

SAFETY IN DYNAMIC 3D HEALTHCARE ENVIRONMENT

The present invention relates to safety in a dynamic 3D healthcare environment. The invention in particular relates to a medical safety-system for dynamic 3D healthcare environments, a medical examination system with motorized equipment, an image acquisition arrangement, and a method for providing safe movements in dynamic 3D healthcare environments. In order to provide improved safety in dynamic 3D healthcare environments with a facilitated adaptability, a medical safety-system () for dynamic 3D healthcare environments is provided, comprising a detection system (), a processing unit (), and an interface unit (). The detection system comprises at least one sensor arrangement () adapted to provide depth information of at least a part of an observed scene (). The processing unit comprises a correlation unit () adapted to correlate the depth information. The processing unit comprises a generation unit () adapted to generate a 3D free space model (). The interface unit is adapted to provide the 3D free space model. 1. A medical safety-system for dynamic 3D healthcare environments , comprising:a detection system;a processing unit; andan interface unit;wherein the detection system comprises at least one sensor arrangement adapted to provide depth information of a free space of at least a part of an observed scene;wherein the processing unit comprises a correlation unit adapted to assign the depth information;wherein the processing unit comprises a generation unit adapted to generate a 3D free space model, wherein the 3D free space model is spatial or volumetric date defining a space which is free of objects and structures and which can be used for movement; andwherein the interface unit is adapted to provide the 3D free space model.2. Medical safety-system according to claim 1 , wherein the detection system comprises at least one time-of-flight camera as sensor arrangement.3. Medical safety-system according to claim 1 , wherein the detection system comprises a plurality ...

DESIGN-TO-ORDER PERFORMANCE EQUIPMENT

Customization systems and methods are described in relation to performance devices and apparatus using a closed-loop feedback process for exploration, design and improvement of devices including performance devices. Crowdsourced knowledge bases, iterative improvements and centralized statistical, semantical and other technical analyses are employed to modify a baseline design. A baseline model defining modifications to a base device necessary to obtain a master device including modifications calculated to improve performance of the master device over the base device. Manufacturing instructions including CNC code can be produced and used to causes the production machine to manufacture the customized device. A design-to-order system is described as having of a simplified user interface, a queuing system, CAD/CAM capability and a repository of stored baseline models. 1. A method for customizing a performance device , comprising:providing a baseline model defining modifications to a base device necessary to obtain a master device, including at least one modification calculated to improve performance of the master device over the base device;receiving at least one change to a parameter of the baseline model from a customer;responsive to the at least one changed parameter, modifying a plurality of other parameters in the baseline model to obtain a customized device having the improved performance of the master device; andgenerating manufacturing instructions, the instructions when executed by an automated production machine, causes the production machine to manufacture the customized device.2. A method according to claim 1 , wherein modifying the plurality of other parameters includes modifying certain of the other parameters based on information derived from tests performed on a different customized device.3. A method according to claim 1 , wherein modifying the plurality of other parameters includes modifying certain of the other parameters based on information received ...

Numerically Controlled Workpiece Processing Apparatuses and Related Methods

A method of processing structurally identical workpieces using a numerically controlled workpiece processing apparatus includes processing a first workpiece according to a first desired tool path specified for a tool of the numerically controlled workpiece processing apparatus by closed-loop controlling a working distance between the tool and the workpiece to achieve a defined desired distance, such that when processing the first workpiece, the tool is moved along a distance-controlled actual tool path. The method further includes optimizing the first desired tool path for a second workpiece based on the distance-controlled actual tool path of the first workpiece to provide a second desired tool path and processing the second workpiece according to the second desired tool path. 113-. (canceled)14. A method of processing structurally identical workpieces using a numerically controlled workpiece processing apparatus , comprising:processing a first workpiece according to a first desired tool path specified for a tool of the numerically controlled workpiece processing apparatus by closed-loop controlling a working distance between the tool and the first workpiece to achieve a defined desired distance, such that when processing the first workpiece, the tool is moved along a distance-controlled actual tool path;optimizing the first desired tool path for a second workpiece based on the distance-controlled actual tool path of the first workpiece to provide a second desired tool path; andprocessing the second workpiece according to the second desired tool path.15. The method according to claim 14 , further comprising:detecting axial positions of the tool along and/or about motion axes of the tool as the tool is moved along the distance-controlled actual tool path; anddetermining the distance-controlled actual tool path based on the axial positions.16. The method according to claim 14 , wherein the second desired tool path is optimized such that the second desired tool path ...

Machining Support Apparatus and Machining Support System

In order to easily verify an operation of the machine tool, a machining support apparatus includes a machining monitoring unit a simulation processing unit and a display unit The machining monitoring unit upon receiving a notification indicating detection of a simulation start code programmed in a machining program from a machine tool controller controlling a machine tool via a communication device renders the machine tool controller to stop the machine tool. The simulation processing unit simulates instructions from the simulation start code to a simulation end code in the machining program, while the machine tool is stopped. And the display unit displays a simulation performed in the simulation processing unit. 1. A machining support apparatus comprising:a machining monitoring unit which, upon receiving a notification via a communication unit from a machine tool controller controlling a machine tool, indicating a detection of a simulation start code programmed in a machining program, renders the machine tool controller to stop the machine tool;a simulation processing unit which simulates instructions in the machining program from the simulation start code to a simulation end code while the machine tool is stopped; anda display unit which displays a simulation performed in the simulation processing unit.2. The machining support apparatus according to claim 1 , 'the simulation start code and the simulation end code are unused codes among codes used in a machining program.', 'wherein'}3. The machining support apparatus according to claim 1 , a predetermined set distance is set in the machining support apparatus, and', 'the machining monitoring unit monitors a distance between a workpiece and a tool, and performs a predetermined processing when the distance between the workpiece and the tool becomes less than or equal to the predetermined set distance., 'wherein'}4. The machining support apparatus according to claim 3 , 'the predetermined processing is configured to ...

BOLT JOINING METHOD AND TOOLS THEREFOR

A method for carrying out a stud joining process by a tool performing a working step on a workpiece and the working step is carried out while taking into account at least one parameter value which is selected from a set of values, and the working step is to be carried out at a certain position on the workpiece, and the position determines the parameter value. The method comprises the steps of: storing the parameter value for the position in an RFID transponder; locating the RFID transponder on the workpiece in the region of the position before the working step is carried out, reading the parameter value out from the RFID transponder with an RFID communication device associated with the tool. 1. A method for carrying out a stud joining process by a working step on a workpiece by means of a tool , and the working step is carried out while taking into account at least one parameter value which is selected from a set of values , and the working step is to be carried out at a certain position on the workpiece , and the position determines the parameter value , storing the parameter value for the position in an RFID transponder;', 'locating the RFID transponder on the workpiece in the region of the position before the working step is carried out,', 'reading the parameter value out from the RFID transponder with an RFID communication device associated with the tool., 'wherein the method comprises the steps of2. A method according to claim 1 , wherein the step of locating the RFID transponder on the workpiece includes a step of arranging the RFID transponder temporarily on the workpiece.3. A method according to and further comprising the step of securing the RFID transponder to a holding device before the step of locating the RFID transponder on the workpiece.4. A method according to claim 3 , wherein the holding device is a positioning device and the method further comprises the step of defining the position of the working step with the positioning device.5. A method ...

Large Inventory-Service Optimization in Configure-To-Order Systems

A manufacturing process is migrated from an existing operation to a configure-to-order (CTO) system. As the CTO operation will eliminate the “machine-type model” (MTM) inventory of the existing operation, the emphasis is shifted to the components, or “building blocks”, which will still follow the build-to-stock scheme, due to their long leadtimes, and hence still require inventory. The solution involves an inventory-service trade-off of the new CTO system, resulting in performance gains, in terms of reduced inventory cost and increased service level. Other benefits include better forecast accuracy through parts commonality and risk-pooling, and increased customer demand, as orders will no longer be confined within a restricted set of pre-configured MTMs. 1. A method of managing manufacturing logistics of multiple end products for which no finished goods inventory is kept , and while a manufacturing process migrates from an existing operation to a Web-based configure-to-order (CTO) operation , wherein a CTO operation is a hybrid of make-to-stock and make-to-order operations;comprising the following steps which are performed without keeping finished goods inventory for any end product; and each of which method step is performed while the manufacturing process migrates from the existing operation to the Web-based CTO operation:maintaining an inventory of components, which components, termed “building blocks”, are built to stock, each said component having a cost wherein the cost is stored in a database;according to the Web-based CTO operation which is the hybrid of make-to-stock and make-to-order operations, configuring-to-order multiple different end products using said components as defined by a bill of materials (BOM) structure wherein the BOM structure is stored in a database, wherein each end product involves at least one unique component; wherein the multiple different end products comprise six different end products; and wherein the end products have a demand ...

Apparatus and method for detecting a position of an actuator piston

Apparatus and method for detecting a position of an actuator piston driving a valve pin in an injection molding system. The apparatus includes an actuator housing having a body portion, surrounding an axial bore, of a substantially non-magnetic and/or magnetically permeable material, a piston, movable within the axial bore for driving a valve pin, the piston including a magnetic member generating a magnetic field such that axial movement of the piston in the bore modifies the magnetic field according to the position of the piston relative to a detection position, and a magnetic field detector attached to an exterior surface of the body portion at the detection position for detecting the magnetic field associated with the position of the piston and generating an output signal determined by the piston position.

METHOD FOR THE EFFICIENT PROTECTION OF SAFETY-CRITICAL FUNCTIONS OF A CONTROLLER AND A CONTROLLER

In a method for operating a controller, at least one input data are processed into at least one output data by using an algorithm. For checking the output data, a second determination of the output data is performed only for output data in a group that does not contain all possible output data. 1. A method for operating a controller , comprisingprocessing input data into output data in a first determination of the output data by using a first algorithm,determining a first group of the output data that does not contain all possible output data,performing a first check as to whether output data determined in the first determination is contained in the first group, andperforming a second determination of the output data to perform a second check of the output data only for those output data contained in the first group.2. The method of claim 1 , wherein the output data contained in the first group describe an intervention by an actuator or cause an intervention by an actuator or are safety-critical output data claim 1 , or a combination thereof.3. The method of claim 1 , wherein the controller is at least one of an image processing controller and a controller of a motor vehicle.4. The method of claim 2 , wherein the output data are used only when confirmed by the second check.5. The method of claim 1 , wherein the second determination of the output data is performed using identical hardware claim 1 , but using a second algorithm different from the first algorithm.6. The method of claim 1 , wherein the second determination of the output data is performed using a redundant hardware component.7. The method of claim 6 , wherein the second determination of the output data is performed using an additional processor.8. The method of claim 1 , further comprising performing a self-test of at least one hardware component involved in at least one of the first and second determination claim 1 , after determining whether output data determined in the first determination is ...

APPARATUS AND METHOD FOR AUTOMATICALLY DETECTING AND COMPENSATING FOR A BACKLASH OF A MACHINE TOOL

According to an embodiment of the present invention, a torque variation of a servomotor, which is measured in a numerical control apparatus of an existing numerical control machine tool, is observed, and a backlash is detected by calculating a transfer distance of an output shaft of the servomotor at a torque peak, without adding additional positioning detection equipment, thereby detecting an accurate backlash amount without adding additional equipment. 1. A method of detecting a backlash which occurs by reversing a motor of a transfer system of a numerical control machine tool , the method comprising:measuring and recording a torque variation of the servomotor;detecting a torque peak in which an absolute value of torque is placed at a peak by observing the torque variation of the servomotor; anddetermining a backlash value by calculating a distance that an output shaft of the servomotor is transferred at the torque peak.2. The method of claim 1 , wherein the measuring and recording of the torque variation of the servomotor includes stepping-transferring an output shaft of the servomotor claim 1 , and measuring and recording torque of the servomotor at each position where the output shaft thereof is stepping-transferred claim 1 , and the detecting of the torque peak in which the absolute value of the torque is placed at the peak by observing the torque variation of the servomotor includes detecting a peak by comparing an absolute value of torque at each position where the output shaft is stepping-transferred with an absolute value of torque at a previous position.3. The method of claim 1 , further comprising:before the measuring and recording of the torque variation of the servomotor,turning off a backlash acceleration function of the numerical control apparatus of the machine tool and setting a backlash correction amount parameter to be zero;transferring a transfer table of the transfer system to a reference position; andreversing the servomotor.4. The method of ...

Systems and methods to monitor an asset in an operating process unit

Systems and methods to monitor an asset in an operating process unit are disclosed. An example method includes monitoring one or more equipment parameters associated with an asset in an operating process unit, monitoring one or more process parameters associated with the asset, and determining an asset health value corresponding to the asset based on the one or more monitored equipment parameters, process parameters, and baseline data associated with the one or more equipment parameters.

Method And System For Controlling An Industrial System

A method of controlling an industrial system by a control system including a user interface having a main display arranged to provide a status view of at least a portion of the industrial system and a secondary display enabling user interaction with the industrial system and the main display. The method includes: receiving an alert concerning a status change in a part of the industrial system; displaying, on the secondary display, an alert object associated with the part of the industrial system generating the alert; detecting a selection of the alert object based on gesture-based user input; displaying the alert object on the main display; receiving an adjustment command of a parameter via gesture-based user input, the parameter being associated with the part of the industrial system generating the alert; adjusting the parameter based on the adjustment command; and controlling the part generating the alert based on the adjusted parameter.

METHOD OF MAKING A PART AND RELATED SYSTEM

A system and method of making a part, including capturing an actual tridimensional surface of each part to obtain a corresponding digitized actual surface, performing a tridimensional comparison between the digitized actual surface of each part and a nominal tridimensional surface, generating an actual location and orientation of an operation to be performed based on the tridimensional comparison, and performing the operation on the part based on the generated actual location and orientation of the element. 1. A method of making a part , the method comprising:providing a nominal tridimensional part definition including a nominal part surface, and a nominal location and orientation for at least one geometrical element on the nominal part surface;capturing an actual tridimensional surface of the part to obtain a corresponding digitized actual surface;performing a tridimensional comparison between the digitized actual surface and the nominal part surface;generating an actual location and orientation of each geometrical element on the digitized actual surface based on the tridimensional comparison; andproviding each geometrical element on the actual surface based on the actual location and orientation of the element on the digitized actual surface.2. The method according to claim 1 , wherein capturing the actual tridimensional surface includes determining a plurality of points on the actual surface of the part claim 1 , such that the digitized actual surface corresponds to a point cloud.3. The method as defined in claim 1 , wherein providing each geometrical element includes drilling at least one hole.4. The method according to claim 1 , wherein the part is selected from the group consisting of a gas turbine combustor liner claim 1 , a gas turbine combustor heat shield claim 1 , a vane ring claim 1 , a blade ring and an airfoil claim 1 , and wherein providing each geometrical element includes drilling a plurality of cooling holes.5. The method according to claim 2 , ...

MOBILE VIDEOCONFERENCING ROBOT SYSTEM WITH NETWORK ADAPTIVE DRIVING

A remote control station that controls a robot through a network. The remote control station transmits a robot control command that includes information to move the robot. The remote control station monitors at least one network parameter and scales the robot control command as a function of the network parameter. For example, the remote control station can monitor network latency and scale the robot control command to slow down the robot with an increase in the latency of the network. Such an approach can reduce the amount of overshoot or overcorrection by a user driving the robot. 1. A remote control station that controls a robot with a camera , through a network , comprising:a remote control station that includes a monitor coupled to the robot camera and transmits a robot control command that includes information to move the robot, said remote control station monitors at least one network parameter and scales said robot control command as a function of said network parameter.2. The remote control station of claim 1 , wherein said scaled robot control command is linearly proportional to said network parameter.3. The remote control station of claim 1 , wherein said network parameter includes a ping time.4. The remote control station of claim 1 , wherein said network parameter includes a video rate.5. The remote control station of claim 3 , wherein said network parameter includes a video rate.6. The remote control station of claim 1 , wherein said scaled robot control command is filtered with a low pass filter.7. The remote control station of claim 1 , wherein said scaled robot command reduces a speed of the robot with an increase in a network latency.8. A remote controlled robot system claim 1 , comprising;a robot that includes a camera and moves in response to a robot control command; and,a remote control station that includes a monitor and coupled to said robot through a network, said remote control station transmits said robot control command that includes ...

Machining process and apparatus for machining

A method of determining a tool path to machine a component, the method comprising the steps of: securing the component to a fixture having a zero point alignment datum, the component and the fixture having respective mobile reference points; aligning the fixture mobile reference points to target reference points on the machine tool; aligning a digitised model of the component to the component mobile reference points; determining the position of the component on the fixture from the component mobile reference points and the fixture mobile reference points; and adjusting a nominal tool path for the machine tool dependent on the position of the component.

Themal dispalcement compensating device of machine tool

A position command value is compensated by predicting a thermal displacement amount of each part of a machine tool and adding a thermal displacement compensation amount which cancels the predicted thermal displacement amount to the position command value of a feed axis. This thermal displacement compensation amount is adjusted from the error amount between this compensated position command value and an actual machining point. Upon adjustment of this thermal displacement compensation amount, it is possible to determine whether to increase or decrease the thermal displacement amount based on a direction in which an operator moves a tool image or a workpiece image on a screen.

Electronic device and method for measuring outline of object

In a method for measuring an outline of an object, the method creates vectors according to adjacent points of the outline, calculates an included angle between every two adjacent vectors, obtains sampled points in the outline and direction vectors of the sampled points, obtains reference points corresponding to the sampled points, inserts a point between each two adjacent reference points, and creates a measurement program according to the reference points and inserted points. The method further obtains measurement points of the outline of the object using the measurement program, obtains a tolerance of each measurement point and a tolerance of the outline of the object, and displays the tolerance of each measurement point using a graphic user interface.

System method for machining aircraft components

A method for manufacturing an aircraft component according to one embodiment of this disclosure includes providing a machining system including a controller, at least one sensor, and a tool for machining. The method further includes providing an aircraft component, and machining the aircraft component with the tool based on feedback from the at least one sensor.

ROBOT CALIBRATION METHOD

A robot calibration method which aligns the coordinate system of a gantry module with the coordinate system of a camera system is disclosed. The method includes using an alignment tool, which allows the operator to place workpieces in locations known by the gantry module. An image is then captured of these workpieces by the camera system. A controller uses the information from the gantry module and the camera system to determine the relationship between the two coordinate systems. It then determines a transformation equation to convert from one coordinate system to the other. 1. A method of calibrating a robot , comprising:attaching an alignment tool to an end effector of said robot, where said end effector is part of a gantry module, where said alignment tool comprises one or more spaces, each space having three respective fingers;moving said end effector to a first location within a field of view of a camera;lowering said end effector;placing a respective workpiece in one or more of said spaces while pressing each workpiece against said respective three fingers, while said end effector is in said first location;saving a first set of coordinate locations for each space in said first location using a coordinate system referenced to said gantry module;moving said end effector without affecting a position of said workpieces from said first location to a second location within said field of view;placing a respective workpiece in one or more of said spaces while pressing each workpiece against said respective three fingers, while said end effector is in said second location;saving a second set of coordinate locations for each space in said second location using a coordinate system referenced to said gantry module;moving said end effector without affecting a position of said workpieces from said second location to a location outside said field of view;using said camera to capture an image of said workpieces after said end effector is moved to said location outside said ...

ROBOT APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM

A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle. 1. A robot apparatus comprising:a rotary motor;a speed reducer configured to decelerate an output of the rotary motor;a robot main body having a joint driven by the rotary motor via the speed reducer;a control portion configured to control driving of the joint by the rotary motor so that an angle of the joint matches a target joint angle;an input encoder portion arranged on an input side of the speed reducer, and configured to generate input pulse signals upon rotation of a rotating shaft of the rotary motor; anda rectangular wave generating portion arranged on an output side of the speed reducer, and configured to generate first output pulse signals according to an angle of the joint upon driving of the joint, a first control process for estimating an angle of the joint in an ideal state in which the joint is free from any torsion from a rotation angle of the rotating shaft of the rotary motor indicated by the input pulse signals and a speed reduction ratio of the speed reducer, and controlling to operate the rotary motor so that an estimated joint angle matches the target joint angle,', 'a torsion angle calculating process for calculating a torsion angle of the joint corresponding to a deviation amount between ...

Contact patch simulation

A method and an apparatus for smart automation of robotic surface finishing of a three-dimensional surface of a workpiece is described. A finite element analysis simulation is conducted providing data for generation of a three-dimensional path along the surface of the workpiece. The finite element can include properties of the workpiece, finishing tool, and the robot configured to maneuver the finishing tool. The surface of the workpiece is finished using one or more surface finishing tools along the three-dimensional path. The surface of the workpiece includes at least a flat region and a curved region.

SYSTEMS, METHODS AND PROCESSES FOR MASS AND EFFICIENT PRODUCTION, DISTRIBUTION AND/OR CUSTOMIZATION OF ONE OR MORE ARTICLES

A system, method and/or process provide mass and efficient production, customization and/or distribution of one or more customized items in digital or physical form. A 2D image of a user may be utilized to create a plurality of 2D images or 3D models of the user having a plurality of facial expressions. One or more of the 2D images or 3D models of the user may be added to or incorporated into an original article to create and/or generate a customized item which includes the user. The 2D images or 3D models of the user may be inserted into one or more original frames of the original article to produce one or more customized frames which may be joined or added to the original article to generate the customized article. 1. A method for customizing at least one original article and distributing at least one customized article , the method comprising at least:obtaining, via a first computer, at least one 2-dimensional image of at least one user;converting the at least one 2-dimensional image to at least one 3-dimensional model of the at least one user;modifying the at least one original article with the at least one 3-dimensional model of the at least one user to produce the at least one customized article, wherein the at least one customized article incorporates the at least one converted 3-dimensional model therein; andprinting and distributing the at least one customized article via at least one 3-dimensional printer.2. The method according to claim 1 , wherein at least one 2-dimensional image of the at least one user comprises at least one first facial expression of the at least one user claim 1 , and further wherein the at least one 3-dimensional model of the at least one user comprises at least one second facial expression of the at least one user claim 1 , wherein the at least one second facial expression is a different facial expression than the at least one first facial expression of the at least one user.3. The method according to claim 1 , wherein the ...

Manufacturing system with interchangeable tooling heads and tooling nests

A manufacturing center configured for use with a plurality of tools and a plurality of nests. The manufacturing center includes a base configured for coupling with one of the plurality of nests. The base includes a base electrical connector. The manufacturing center also includes an arm configured for coupling with one of the plurality of tools. The arm has an end movable with respect to the base, and the end includes an arm electrical connector. A controller is operable to control movement of the arm and is in communication with the base electrical connector and the arm electrical connector. The controller is operable to identify which one of the plurality of tools is coupled with the arm and which one of the plurality of nests is coupled with the base at least in part by way of communication with the arm electrical connector and the base electrical connector.

System And Method For Identification Of Contact Between An Object And A Static Implement In A Power Tool

A method for operating a power tool detects human contact with a non-moving implement of the power tool. The method includes sampling an electrical signal that passes through the non-moving implement, identifying in-phase and quadrature phase components for the sample, identifying a first distance between the components of the sample and a centroid of a cluster of samples corresponding to human contact with the non-moving implement, identifying a second distance between the components of the sample and a second centroid identified for another cluster of samples corresponding to no human contact with the non-moving implement, and identifying human contact with the non-moving implement with reference to the first distance being less than the second distance. 1. A method for detection of human contact with a non-moving implement in a power tool comprising:generating a sample of an electrical signal that passes through the non-moving implement;identifying an in-phase component and quadrature phase component of the sample;identifying a first distance between the identified in-phase component and quadrature phase component of the sample and a first centroid identified for a cluster of samples corresponding to human contact with the non-moving implement with reference to the in-phase component and quadrature phase component of the sample and an in-phase component and a quadrature phase component of the first centroid;identifying a second distance between the identified in-phase component and quadrature phase component of the sample and a second centroid identified for another cluster of samples corresponding to no human contact with the non-moving implement with reference to the in-phase component and quadrature phase component of the sample and an in-phase component and a quadrature phase component of the second centroid; andidentifying human contact with the non-moving implement with reference to the first distance being less than the second distance.2. The method of ...

System And Method For Identification Of Contact Between A Human And A Static Implement In A Power Tool

A method of operating a power tool detects human contact with a non-moving implement in the power tool. The method includes generating a series of samples of an electrical signal passing through the non-moving implement, identifying a component for each sample in the series of samples of the electrical signal, identifying a first max−min value corresponding to a first plurality of samples in the series of samples occurring during a first periodic time interval with reference to a difference between a maximum value and a minimum value identified in the components of the first plurality of samples, and identifying human contact with the non-moving implement in response to the first max−min value being greater than a first predetermined threshold.

System And Method For Identification Of Implement Motion In A Power Tool

A method of operating a power tool identifies motion of an implement in a power tool. The method includes obtaining a plurality of samples of an electrical signal that passes through the implement, identifying a parameter for the plurality of samples corresponding to a variation in values of predetermined groups of samples in the plurality of samples, updating a status for the implement with a first status indicating that the implement is not moving with reference to the identified parameter being less than a predetermined threshold, and updating a status for the implement with a second status indicating that the implement is moving with reference to the identified parameter being greater than the predetermined threshold. 1. A method for identifying motion of an implement in a power tool comprising:obtaining a plurality of samples of an electrical signal that passes through the implement;identifying a parameter for the plurality of samples corresponding to a variation in values of predetermined groups of samples in the plurality of samples;updating a status for the implement with a first status indicating that the implement is not moving with reference to the identified parameter being less than a predetermined threshold; andupdating a status for the implement with a second status indicating that the implement is moving with reference to the identified parameter being greater than the predetermined threshold.2. The method of claim 1 , the identification of the parameter further comprising:identifying an average sample value for each group of samples in a plurality groups of samples of the electrical signal; andidentifying a max-min value for the plurality of groups of samples for the electrical signal with reference to a difference between a maximum average value identified in a first group from the plurality of groups and a minimum average value identified in a second group from the plurality of groups.3. The method of claim 2 , the updating of the status with the ...

TRANSLATION/ROTATION ERROR COMPENSATION AMOUNT CREATING DEVICE

A translation/rotation error compensation amount creating device creates, for a multi-axis machining apparatus having two rotation axes, a translation error compensation amount and a rotation error compensation amount both depending on the rotation axes. The translation/rotation error compensation amount creating device calculates the translation error compensation amount and the rotation error compensation amount based on an assembly error (set value) including at least an assembly error in a table surface or an assembly error in a spindle turning centerline in a multi-axis machining apparatus as well as the positions of the two rotation axes, and inputs the calculated error compensation amounts to a numerical controller controlling the multi-axis machining apparatus. 1. A translation/rotation error compensation amount creating device creating , for a multi-axis machining apparatus having at least two rotation axes , a translation error compensation amount and a rotation error compensation amount both depending on the rotation axes ,the translation/rotation error compensation amount creating device comprising:an assembly error setting section that presets an assembly error including at least an assembly error in a table surface or an assembly error in a spindle turning centerline in the multi-axis machining apparatus;a translation/rotation error compensation amount calculating section that calculates the translation error compensation amount and the rotation error compensation amount based on the assembly error set by the assembly error setting section and positions of the two rotation axes; anda translation/rotation error compensation amount input section that inputs the calculated translation error compensation amount and the rotation error compensation amount to a numerical controller controlling the multi-axis machining apparatus.2. The translation/rotation error compensation amount creating device according to claim 1 , wherein the positions of the two ...

TOOL TRAJECTORY DISPLAY DEVICE HAVING FUNCTION FOR DISPLAYING INVERSION POSITION OF SERVO AXIS

A tool trajectory display device capable of displaying an inversion position of a servo axis on a tool trajectory. The display device has a position information obtaining part and velocity information obtaining part which obtain position information and velocity information of at least one servo axis, respectively, from numerical controller; a tool coordinate calculating part which calculates a coordinate value of a tool center point based on the position information and information of a mechanical constitution of the machine tool; an inversion position calculating part which calculates an inversion position where a polarity of a velocity of the servo axis is changed, based on the velocity information and the calculated coordinate value; and a displaying part which displays a trajectory of the tool center point based on the calculated coordinate, and displays the inversion position of the servo axis on the trajectory. 1. A tool trajectory display device for displaying a trajectory of a tool center point of a machine tool with a plurality of servo axes including at least one rotation axis controlled by a numerical controller , the tool trajectory display device comprising:a position information obtaining part which obtains position information of at least one of the servo axes;a velocity information obtaining part which obtains velocity information of the servo axis;a tool coordinate calculating part which calculates a coordinate value of the tool center point based on the position information of the servo axis and information of a mechanical constitution of the machine tool;an inversion position calculating part which calculates an inversion position where a polarity of a velocity of at least one servo axis is changed, based on the velocity information of the servo axis and the coordinate value of the tool center point; anda displaying part which displays a trajectory of the tool center point based on the coordinate value of the tool center point, and displays the ...

RAPID PROTOTYPED TRANSFER TRAY FOR ORTHODONTIC APPLIANCES

The present invention is directed to computer-implemented methods of making a transfer tray using rapid prototyping techniques, where the gingival edge of the tray is defined to intersect with at least one receptacle for receiving an orthodontic appliance. This tray configuration helps to minimize the travel distance of the tray when placing the tray over a patient's teeth, while also preserving a high degree of mechanical retention for retaining the appliance until such time that the appliance is bonded to the tooth. Other aspects of the tray and associated methods of bonding are directed to a frangible web that extends over the gingival portion of the receptacle and fractures to facilitate tray removal after bonding. 1. A method of making a transfer tray for bonding an orthodontic appliance comprising:obtaining a virtual model of a patient's dental structure;determining a desired location for one or more virtual orthodontic appliances on the model;providing a virtual receptacle at the desired location for each appliance of the one or more virtual orthodontic appliances, wherein each virtual receptacle has a configuration that matches at least a portion of the corresponding virtual orthodontic appliance;deriving a virtual tray body extending across at least a portion of the model and at least a portion of each virtual receptacle remote from the model, wherein the act of deriving a virtual tray body includes the act of trimming the tray to create a gingival edge of the tray body that intersects each virtual receptacle; andforming the transfer tray, wherein the transfer tray includes a physical tray body and one or more physical receptacles that correspond to the virtual tray body and virtual receptacles respectively, each physical receptacle sufficient to releasably retain a physical orthodontic appliance corresponding to the virtual appliance,whereby when the physical appliance is retained in the physical receptacle, such appliance will include first facially ...

SYSTEM FOR CONTROLLING ARTICULATION FORCES

In some aspects, a control algorithm is provided for manipulating a pair of articulation arms configured to control an articulation angle of an end effector of a robotic surgical instrument. Other aspects of the present disclosure focus on the robotic arm system, including the pair of articulation arms coupled to the end effector and guided by independent motors controlled by a control circuit. Each of the articulation arms are designed to exert antagonistic forces competing against each other that are apportioned according to a ratio specified in the control algorithm. The ratio of the antagonistic forces may be used to determine the articulation angle of the head or end effector of the robotic surgical arm. 1. A system for a robotic surgical instrument , the system comprising:a control circuit;a first motor and a second motor, both communicatively coupled to the control circuit;a first articulation arm communicatively coupled to the first motor;a second articulation arm communicatively coupled to the second motor; andan end effector coupled to the first articulation arm via a first hinge and the second articulation arm via a second hinge; the control circuit is configured to cause the first motor to apply a first force to the first articulation arm;', 'the control circuit is configured to cause the second motor to apply a second force to the second articulation arm, wherein the second force is antagonistic to the first force such that the first and second forces apply counteracting forces at the end effector;', 'the first and second forces cause the end effector to articulate via the first and second hinges; and', 'the end effector is configured to articulate to a prescribed angle based on a ratio of magnitudes between the first force and the second force., 'wherein2. (canceled)3. The system of claim 1 , further comprising an articulation pivot coupled to the end effector claim 1 , wherein the end effector is further configured to articulate about the articulation ...

Biometric Calibration for Ergonomic Surgical Platforms

The present Invention describes a method and system for calibrating, to an optimally ergonomic position, a surgical platform for use in laparoscopic surgeries. The bases of the method include the surgical site within a patient and the laparoscopic port placements within the ventral wall of the patient arranged in a three-dimensional coordinate system, and biometric data of the surgeon conducting the laparoscopic procedure. 1. A method for calibrating a surgical platform for use by a surgeon , comprising: i. a surgical site coordinate, wherein the surgical site coordinate represents the location of a site of surgery within a patient;', 'ii. a plurality of trochar coordinates, wherein the trochar coordinates represent the location of a plurality of trochars; and', 'iii. biometric information of the surgeon;, 'a. Inputting inputs of'}b. and adjusting at least one adjustable parameter of the surgical platform based on calibration information.2. The method of claim 1 , wherein biometric information includes at least one of: an arm length claim 1 , a forearm length claim 1 , a shoulder width claim 1 , a back length claim 1 , a thigh length claim 1 , or a leg length.3. The method of claim 1 , wherein the calibration information includes at least one of: a seat height claim 1 , a seat incline angle claim 1 , a surgical approach angle claim 1 , a platform distance from a patient claim 1 , or a foot rest height.4. The method of claim 1 , wherein the surgical site coordinate and plurality of trochar coordinates are three-dimensional coordinates.5. The method of claim 1 , wherein the calibration information is calculated by a processor included within the surgical platform.6. The method of claim 5 , wherein the processor included within the surgical platform adjusts at least one adjustable parameter of the surgical platform based on the calibration information.7. A system for calibrating a surgical platform for use by a surgeon claim 5 , comprising: i. a surgical site ...

PART OBTAINED BY SELECTIVE MELTING OF A POWDER COMPRISING A MAIN ELEMENT AND RIGID SECONDARY ELEMENTS

The invention relates to A part obtained by selective melting of a powder on a support plate, this part comprising a main element and rigid secondary elements, these secondary elements supporting the main element between a lower surface of this main element and the support plate. The Secondary elements are intended to be detached from the main element. The lower surface of the main element thus comprises a first surface portion and at least one second surface portion, and the first surface portion makes, with the support plate, an angle α1 of less than a predetermined value, and the second surface portion makes, with this support plate, an angle α2 greater than or equal to this predetermined value. The first surface portion is therefore entirely supported by the secondary elements and the second surface portion is partially supported by the secondary elements. The predetermined value is between 20° and 30°. 1. A part obtained by selective melting of a powder on a support plate , this part comprising:a main element, andrigid secondary elements, these secondary elements supporting the main element between a lower surface of this main element and the support plate,wherein the secondary elements are adapted to be detached from the main element, a first surface portion, and', 'at least one second surface portion, 'wherein the lower surface of the main comprises{'b': 1', '2, 'wherein the first surface portion makes, with the support plate, an angle α of less than a predetermined value, and the second surface portion makes, with this support plate, an angle α greater than or equal to this predetermined value, wherein the predetermined value s between 20° and 30°, and'}wherein the first surface portion is entirely supported by the secondary elements and the second surface portion is partially supported by the secondary elements.2. The part according to claim 1 , wherein claim 1 , with the second surface portion having a surface area claim 1 , this second surface portion is ...

Alignment system and method for vertical lathe

Disclosed is an alignment system for a vertical lathe, the lathe configured to perform a cutting process on a workpiece (W) mounted on a circular turn table ( 3 ) by rotating the workpiece (W), and the alignment system configured to, when the lathe performs the cutting process on an unbalanced eccentric workpiece, perform a center alignment operation for correcting imbalance. The alignment system includes an alignment mechanism which includes: multiple alignment weights ( 13 ) provided movable along an outer periphery ( 3 a ) of the circular turn table ( 3 ); and a movement mechanism ( 15 ) configured to move the alignment weights along the outer periphery ( 3 a ) of the turn table ( 3 ). The alignment system further includes a control unit ( 7 ) configured to calculate setting positions for the alignment weights ( 13 ), and to set the alignment weights ( 13 ) at the calculated setting positions using the movement mechanism ( 15 ), in order to correct the imbalance.

CONTROLLER FOR MACHINE TOOL

A thermal displacement state (target thermal displacement state) in which thermal displacement of a machine tool is saturated when the machine tool is operated based on a machining program is previously stored, and a warm-up operation pattern of a motor is determined so as to approach the target thermal displacement state. The motor is driven based on the warm-up operation pattern and the warm-up operation of the motor is stopped if the thermal displacement state of the machine tool is within a predetermined range. 1. A controller for a machine tool , which drives a motor based on a machining program , thereby driving a spindle and a feed screw , the controller comprising:a storage unit that stores therein, as a target thermal displacement state, a thermal displacement state in which thermal displacement of the machine tool is saturated when the machine tool is operated in advance based on the machining program;a warm-up operation determination unit configured to determine a warm-up operation pattern of the motor so as to approach the target thermal displacement state;a thermal displacement state calculation unit configured to calculate the thermal displacement state of the machine tool;a motor drive unit configured to drive the motor according to the warm-up operation pattern determined by the warm-up operation determination unit; anda motor stop unit configured to calculate the thermal displacement state of the machine tool for each predetermined period by means of the thermal displacement state calculation unit, compare the calculated thermal displacement state with the target thermal displacement state, and stop the motor drive unit if the difference between the calculated thermal displacement state and the target thermal displacement state is within a predetermined threshold value.2. The controller for a machine tool according to claim 1 , wherein the thermal displacement state calculation unit comprises a temperature distribution estimation unit configured to ...

Force responsive power tool

A controller coupled to a motion actuator responsively varies a speed of the motion actuator and an operating speed of a working surface within the range of an initial speed and a max speed and responds to a derived force that represents an amount of force an operator applies between a workpiece and the working surface. The controller, under both acceleration and deceleration, allows the operator with an applied force to manageably change simultaneously both a rate of work on the workpiece and the operating speed of the working surface according to a sensitivity profile expressing a relationship between the derived amount of force and the operating speed of the working surface. A tool for operating on the workpiece includes the motion actuator coupled to the working surface to engage the workpiece.