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AssigneeFraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
InventorsMichael Schwaar, Zenon Karczewski, Hans-Joachim Koriath
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A method is provided for controlling the movement of a support relative to a base by movement devices whose degrees of freedom of movement define a non-orthogonal coordinate system. For achieving a dynamic behavior corresponding to that of a machine with orthogonal directions of movement, non-orthogonal actual-condition values of the movement devices are detected, transformed into orthogonal coordinates, and, on the basis of the transformed actual-condition values and the predetermined target-condition values, operating values in orthogonal coordinates are determined, which are then transformed into non-orthogonal coordinates and transmitted to the individual movement devices. In addition, a device for controlling the movement of the support is provided, as well as a machine tool with a hexapodal suspension of the support, which has provided thereon a machining device.
A method of controlling the movement of a support relative to a base by movement devices whose degrees of freedom of movement define a non-orthogonal coordinate system, in particular for a machine tool provided with a machining device on the support and a workpiece reception means on the base, comprising predetermining target-condition values of the movement of the support in coordinates of an orthogonal coordinate system (X, Y, Z, A, B, C) of the base, detecting actual-condition values of the support in the coordinates of the non-orthogonal coordinate system (L1, L2, L3, L4, L5, L6), transforming the actual-condition values into the orthogonal coordinate system (X, Y, Z, A, B, C), performing a control for determining operating values in orthogonal coordinates for the movement of the support on the basis of the target-condition and actual-condition values, carrying out the control in the orthogonal coordinates (X, Y, Z, A, B, C) of the base, and subsequently transforming the operating values into coordinates of the non-orthogonal coordinate system (L1, L2, L3, L4, L5, L6).
A device for controlling the movement of a support relative to a base, comprising a central control unit (11) for generating target-condition values of the support in the coordinates of an orthogonal coordinate system (X, Y, Z, A, B, C) of the base, movement devices for moving the support, the degrees of freedom of the movement defining a non-orthogonal coordinate system (L1, L2, L3, L4, L5, L6), and means for determining actual-condition values, wherein a computing unit (12) is connected between the central control unit (11) and the movement devices (31, 35), said computing unit (12) comprising a transformation module (17a ) for transforming actual-condition values of the support from non-orthogonal coordinates into orthogonal actual coordinates, a separate controller (19) for determining operating values in orthogonal coordinates from the actual-condition and target-condition values in orthogonal coordinates, and a further transformation module (17b ) for transforming the operating values from the orthogonal coordinate system into the non-orthogonal coordinate system.
Dependencies are inferred from the claim text.