Method for the determination of a rough trajectory to be followed in a positionally guided manner

A computer program which enables a computer, after the program is loaded into a memory of the computer, to execute a method for determining a position-guided coarse trajectory for a machine drive or tool, by performing the steps of:

• defining an initial position-guided trajectory, said initial position-guided trajectory defined by an initial function having a scalar trajectory parameter defining a corresponding position on the initial trajectory, said scalar trajectory parameter representing a distance travelled along the initial trajectory,
• filtering the initial trajectory with a low-pass filter to determine a coarse function, said low-pass filter being a function of the scalar trajectory parameter,
• inserting the scalar trajectory parameter in the coarse function to determine a position on a coarse trajectory, and
• determining a distance between the coarse trajectory and the initial position-guided trajectory so that the distance is always smaller than a predetermined threshold value independent of a value of the scalar trajectory parameter.

A computer-readable storage medium having stored thereon a program which enables a computer, after the program is loaded into a memory of the computer, to execute a method for determining a position-guided coarse trajectory for a machine drive or tool, with the steps of:

• defining an initial position-guided trajectory, said initial position-guided trajectory defined by an initial function having a scalar trajectory parameter defining a corresponding position on the initial trajectory, said scalar trajectory parameter representing a distance travelled along the initial trajectory,
• filtering the initial trajectory with a low-pass filter to determine a coarse function, said low-pass filter being a function of the scalar trajectory parameter,
• inserting the scalar trajectory parameter in the coarse function to determine a position on a coarse trajectory, and
• determining a distance between the coarse trajectory and the initial position-guided trajectory so that the distance is always smaller than a predetermined threshold value independent of a value of the scalar trajectory parameter.

A computer-readable storage medium having stored thereon two sequences of nominal position values, wherein each nominal position value of one sequence corresponds to a nominal position value of the other sequence, wherein one of the sequences corresponds to a sequence of positions on an initial trajectory, a coarse trajectory or a fine trajectory, and another of the sequences corresponds to a sequence of positions on a different trajectory selected from an initial trajectory, a coarse trajectory and a fine trajectory, the computer-readable storage medium further having stored thereon a program which enables a computer, after the program is loaded into a memory of the computer, to execute a method for determining a position-guided coarse trajectory for a machine drive or tool, with the steps of:

• defining an initial position-guided trajectory, said initial position-guided trajectory defined by an initial function having a scalar trajectory parameter defining a corresponding position on the initial trajectory, said scalar trajectory parameter representing a distance travelled along the initial trajectory,
• filtering the initial trajectory with a low-pass filter to determine a coarse function, said low-pass filter being a function of the scalar trajectory parameter,
• inserting the scalar trajectory parameter in the coarse function to determine a position on a coarse trajectory, and
• determining a distance between the coarse trajectory and the initial position-guided trajectory so that the distance is always smaller than a predetermined threshold value independent of a value of the scalar trajectory parameter,
• wherein the fine trajectory corresponds to a difference between the initial trajectory and the coarse trajectory.