Method for the optimized movement co-ordination of measuring machines or machine tools with redundant axles having a translatory action

A method for the optimized movement co-ordination of measuring machines or machine tools having redundant axles having a translatory action,

• wherein the redundant axles having a translatory action form linearly movable parts of a total movement device, for at least two-dimensional total movement of measuring machines or machine tools relative to a material to be scanned or to be processed with any desired methods,
• wherein a redundant translatory movement is considered to be when rotatory or parallel kinematically acting partial movement devices, in addition to their movement options or exclusively within an application-dependent movement range, is used for a redundantly translatory movement of a measuring machine or a tool,
• wherein partial axles each movable over a first distance, called base axles here, permit a accelerated partial movement substantially across the entire measuring or processing space, and the partial axles each movable over a second distance that is shorter than the first distance, called additional axles here, perform movement components of a total movement, which require an acceleration beyond a maximum established or stipulated for the base axles, wherein all partial axles acting in the same direction constitute an overall axis,
• wherein the overall co-ordination of all axles takes place directly during a measuring or processing operation, or in a section-wise pre-processing during a measuring or processing operation, or as part of a complete pre-processing of an entire measuring or processing operation, and
• at standstill or during an unaccelerated movement in the overall axis, an additional axle assumes substantially the position of a neutral starting point, wherein addition of a higher accelerated movement components of a total movement acting redundantly with respect to the base axles to the neutral starting point produces the position of an additional axle in its own movement range, and
• wherein, when approaching positions, within the limits of a measuring or processing path, which would not be achievable in the case of a fixed neutral starting position, the base axles decelerate correspondingly in order to avoid breaching the boundaries of their working range, wherein by corresponding simultaneous displacement of the neutral starting point of the additional axles, the movement component of the base axles missing from the total movement is compensated, and thus substantially the movement range of the base axles and the movement range of the respective redundantly active additional axles, added, produce a working space available in the overall axis.