An operation of a processing machine with redundant actuators is controlled according to a reference trajectory by selecting, from a set of points forming a segment of the reference trajectory to be processed for a period of time, a subset of points corresponding to a fraction of the period of time. The subset of points is selected such that the redundant actuators are capable to position the worktool at each point in the subset within the period of time and are capable to maintain the worktool at the last point of the subset after the period of time while satisfying constraints on motion of the redundant actuators. The constraints on motion are selected based on the mode of operation of the processing machine. The segment of the reference trajectory is modified in the time domain and the control inputs for controlling the motion of the redundant actuators are determined using the modified segment of the reference trajectory.

A first drive acts on a machine element via a transmission and a second drive acts on the machine element directly. First and second closed-loop speed controllers determine respective first and second setpoint force values for the first and second drives with the aid of the difference between the setpoint speed value and of the actual speed value and activate the first drive and/or the second drive as a function of the respective first and second setpoint force values. Respective first and second pilot force values are determined from a first axis inertia scaled by a first scaling factor (), and second axis inertia scaled by a second scaling factor (1).

A method computes reference signals for a machine with redundant positioning by first generating a reference trajectory according to an ordered list of points. Then, using a filter or by choosing the value of the reference at each sampling time, a reference trajectory for the slow subsystem is produced. Next, determine whether the reference trajectory and the slow subsystem reference trajectory violate feasibility constraints, and if true, slowing down the reference trajectory and repeating with the generation of the slow subsystem reference trajectory. The slow subsystem reference trajectory is sent, via a model predictive control block, to a slow positioning subsystem controller, and a combination of the slow subsystem reference trajectory and the reference trajectory is sent to a fast positioning subsystem controller.

In this machining method, in which a rotary tool is moved relative to a workpiece and/or the workpiece is moved relative to the rotary tool so as to machine a curved surface on said workpiece, rotation in the direction of said curved surface is added to the workpiece such that the positions of reversal marks left on the curved surface per tool path are dispersed in the direction of said rotation.

A numeric control machine tool of the type comprising: a basement; a substantially rectilinear main supporting crossmember which extends above the basement and has two axial ends structured so as to rest stably and in an axially sliding manner on two reciprocally parallel rectilinear guides present on the basement; a movable slide which is fixed protruding onto a side of the main supporting crossmember, with the possibility of moving along the body of the main supporting crossmember; a substantially rectilinear vertical movable tower, which is fixed on the movable slide in a substantially vertical position and with the possibility of translating with respect to the movable slide in a vertical direction; and a tool-hold head which is fixed on the lower end of said vertical movable tower; the main supporting crossmember being structured so as stably to support the weight of the movable slide, the vertical movable tower and the tool-holder head, and the numeric control machine tool also comprising a substantially rectilinear auxiliary supporting crossmember, which extends beside the main supporting crossmember so as to be locally facing and distanced from the side of the crossmember which supports the movable slide; and on which the movable slide rests by means of interposition of a reaction member which is structured so as to vary its height, simultaneously exercising an upward thrust on the projecting arm.

A motor control device for controlling driving of a motor based on position commands input from a host control device includes an offset value memory including first circuitry which stores offset values corresponding to predetermined values of position commands, respectively, and a drive controller including second circuitry which acquires, from the offset value memory, one of the offset values corresponding to an input position command among the position commands, and control driving of a motor based on an offset position command obtained by adding the one of the offset values to or subtracting the one of the offset values from the input position command.

Among a plurality of synchronous control programs each configured to include a plurality of output software modules with respect to one driving software module, a synchronous control program of a multi-axis configuration, in which driving software modules are coupled together into a same axis, is displayed on one screen. On this display screen, display is switched between a parameter setting screen, status information on respective software modules, and a waveform graph of the driving software module and the output software modules, in order to enable work ranging from software designing to debugging to be efficiently performed.

A method includes disposing an intervention service tool within a tubular. The intervention service tool includes an anchoring system, a shifting system, and a linear actuator system. The tubular includes a shifting profile geometry disposed within the tubular at a first location. The anchoring system, the shifting system, and/or the linear actuator system is actuated. Shifter system pressure, linear actuator system force/pressure, and displacement of the shifting system is measured. A known graph of the shifting profile geometry is compared to one or more of a measured pressure, a measured force, or a measured displacement. A position of a key disposed on the shifting system is determined relative to the shifting profile. The shifting profile geometry is engaged with the key based on the position of the key. The shifting profile geometry is positioned at a second location that is different from the first location.

A method of toolpath generation is provided whereby the tool may be any smooth convex axisymmetric shape. The tool includes a tool body extending between a shank and a head. The shank is configured to be mounted in a collet which may optionally rotate. In the case of a stylus tool, the head has an axisymmetric forming surface used to press metal. In the case of a routing tool, the head has cutting surfaces which are enveloped by a smooth convex axisymmetric surface and the tool is used for milling a part. In a least one embodiment the tool is a stylus tool which has a forming surface that has been generated from a portion of a clothoid curve.