Operating machine with redundant axes and resolution of the redundancy in real time

US9555546B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Carsten Hamm · Erlangen, DE
• Sven Tauchmann · Chemnitz, DE

Key dates

• Filing date: Sep 9, 2014
• Grant date: Jan 31, 2017
• Expiry date: Sep 9, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40367
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A program for a numerical control device is disclosed that determines path points to be approached by an end effector. A control signal group is ascertained for each path point that contains its set point value for each position-controlled axis. Those values are output to the axes, moving the end effector. The degrees of freedom are fewer than the position-controlled axes. The control signal groups are ascertained so that the end effector approaches the path points at least approximately. The control signal groups are ascertained gradually during the activation of the axes. The set point values are ascertained by minimizing an objective function. The objective function that is minimized includes at least the set point values for a path point only to be approached in the future. The sequence between the currently approached point and the point approached in the future has at least one further path point.