Method for managing systems provided with redundant actuators

An operating machine of the type comprising at least a first system (3, 5) operating according to a first set of variables, representative of a first set of axes of motion (X, Y) and a second system (17) operating according to a second set of variables, representative of a second set of axes of motion (u, v), said first set of axes (X, Y) and second set of axes (u, v) defining one or more redundant axes of motion, said operating machine further comprising a numeric control unit (50) and a servo-control module (53) configured to command actuators (13, 14) of said operating machine through a numeric control unit (50) and a servo-control module (53) to follow motion trajectories ((Xs, Ys), (X, Y), (u, v)) as a function of a set sequence of motion (P)

• wherein
• said numeric control unit (50) is configured for:
• providing said motion sequence (P) in the form of a set of instructions corresponding to a part program including a preparation code (101) identifying the function to be initiated to set said motion trajectories as curves in a three-dimensional space to be followed by said operating machine,
• interpolating (100), based on the sequence of instructions, said set motion sequence (P) under the control of said preparation code (101) to obtain a motion trajectory of the operating machine with redundant actuators ((Xs, Ys),
• operating a filtering (110) on said trajectory of the operating machine with redundant actuators ((Xs, Ys)) to generate a trajectory of the first system ((X, Y));
• calculating (120) a second trajectory of the second system ((u, v)) as difference trajectory between said trajectory of the operating machine with redundant actuators ((Xs, Ys)) and said trajectory of the first system ((X, Y)),
• providing (130) said trajectory of the first system ((X, Y)) to said servo-control (53) for the actuation of the first system (3, 5),
• said numeric control unit (50) being also configured to provide said trajectory of the second system ((u, v)) to said servo-control (53) for the actuation of the second system (17).