Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method

A machine motion trajectory measuring device for measuring a motion trajectory of a machine used in an apparatus that controls a relative position between a tool of the machine and a work table by feeding back a detected position detected by a plurality of motors for driving a plurality of movable axes and driving the motors such that the detected position follows a commanded position, the machine motion trajectory measuring device comprising:

• an accelerometer for measuring acceleration of the tool of the machine or the work table;
• and
• a motion trajectory measuring unit for obtaining a position of the machine by double integration of the acceleration and correcting the position of the machine such that a profile of the position of the machine coincides with a profile of the detected position or with a profile of an estimated position estimated using a model for simulating a response of the position of the machine to the commanded position and measuring a trajectory of the corrected position of the machine as the motion trajectory of the machine.

A numerically controlled machine tool including a machine motion trajectory measuring device for measuring a motion trajectory of a machine used in an apparatus that controls a relative position between a tool of the machine and a work table by feeding back a detected position detected by a plurality of motors for driving a plurality of movable axes and driving the motors such that the detected position follows a commanded position, the machine motion trajectory measuring device comprising:

• an accelerometer for measuring acceleration of the tool of the machine or the work table;
• and
• a motion trajectory measuring unit for obtaining a position of the machine by double integration of the acceleration and correcting the position of the machine such that a profile of the position of the machine coincides with a profile of the detected position or with a profile of an estimated position estimated using a model for simulating a response of the position of the machine to the commanded position and measuring a trajectory of the corrected position of the machine as the motion trajectory of the machine.