A command-value generation apparatus includes: a segmentation unit to segment a machining program into execution units to generate segment machining programs; a parallel computation unit, including a plurality of arithmetic units, to execute the segment machining programs on a per execution unit basis in parallel and generate a segment command for each of the execution units, the segment command being a group of interpolation points on the tool path; and a command-value generation unit to generate a tool travel command from the segment command for each of the execution units. The segment machining programs are separate from one another by at least one segmentation point. The segment machining programs includes a forward segment machining program located forward of the segmentation point, and a rearward segment machining program located rearward of the segmentation point.

A command-value generation apparatus includes: a segmentation unit to segment a machining program into execution units to generate segment machining programs; a parallel computation unit, including a plurality of arithmetic units, to execute the segment machining programs on a per execution unit basis in parallel and generate a segment command for each of the execution units, the segment command being a group of interpolation points on the tool path; and a command-value generation unit to generate a tool travel command from the segment command for each of the execution units. The segment machining programs are separate from one another by at least one segmentation point. The segment machining programs includes a forward segment machining program located forward of the segmentation point, and a rearward segment machining program located rearward of the segmentation point.

A trajectory generation device configured to generate a trajectory along which a control target passes, the device including a storage unit configured to store a plurality of points, and a processor. the processor is configured to perform receiving process of receiving designated path information about a path designated by a user in a partial section between two points in the plurality of points, and trajectory generation process of generating a trajectory in the partial section by using the designated path information, a first path passing through the two points in the plurality of points and at least one anterior passing point through which the control target passes before passing through the two points, and a second path passing through the two points in the plurality of points and at least one posterior passing point through which the control target passes after passing through the two points.

A trajectory generation device configured to generate a trajectory along which a control target passes, the device including a storage unit configured to store a plurality of points, and a processor. the processor is configured to perform receiving process of receiving designated path information about a path designated by a user in a partial section between two points in the plurality of points, and trajectory generation process of generating a trajectory in the partial section by using the designated path information, a first path passing through the two points in the plurality of points and at least one anterior passing point through which the control target passes before passing through the two points, and a second path passing through the two points in the plurality of points and at least one posterior passing point through which the control target passes after passing through the two points.

A numerical value controller includes a storage unit that stores a machining program involving executing a plurality of canned cycles each including a first operation for positioning a drilling position of a workpiece relative to a tool, a second operation for moving the tool from a return point to a hole bottom point, and a third operation for moving the tool from the hole bottom point to the return point; a control unit that controls movement between the tool and the workpiece based on the machining program and that moves the tool along curved paths by starting the second operation before the first operation ends and starting the first operation in a subsequent canned cycle before the third operation ends; a distance calculating unit that calculates a retraction distance; and a curvature calculating unit that reads a positioning command for the drilling position for the subsequent canned cycle.

A numerical value controller includes a storage unit that stores a machining program involving executing a plurality of canned cycles each including a first operation for positioning a drilling position of a workpiece relative to a tool, a second operation for moving the tool from a return point to a hole bottom point, and a third operation for moving the tool from the hole bottom point to the return point; a control unit that controls movement between the tool and the workpiece based on the machining program and that moves the tool along curved paths by starting the second operation before the first operation ends and starting the first operation in a subsequent canned cycle before the third operation ends; a distance calculating unit that calculates a retraction distance; and a curvature calculating unit that reads a positioning command for the drilling position for the subsequent canned cycle.

This invention, a feedrate scheduling method for five-axis dual-spline curve interpolation, belongs to multi-axis NC (Numerical Control) machining filed, featured a feedrate scheduling method with constant speed at feedrate-sensitive regions under axial drive constraints for five-axis dual-spline interpolation. This method first discretizes the tool-tip spline with equal arc length, thus getting the relation between the axial motion and the toolpath by computing the first, second, and third order derivatives of the axial positions with respect to the tool-tip motion arc length. After that, determine the feedrate-sensitive regions with the constraints of axial drive limitations and the objective of balanced machining quality and efficiency. Finally, determine the acceleration/deceleration-start-point curve parameters by bi-directional scanning. The invented method can effectively make a balance between the feed motion stability and efficiency in five-axis machining, and possesses a high computational efficiency and a good real-time capability.

Provided are a numerical controller, a numerical control method, and a numerical control program capable of suppressing reduction in machining surface quality while increasing machining efficiency. A numerical controller comprises: a program analysis unit that analyzes a machining program for controlling a machine tool and calculates a cumulative moving distance for each command block based on a designated coordinate; a control point generation unit that generates, based on the moving distance and a designated speed for each command block, a control point as a set of the moving distance and the speed at a start point and an end point in the command block; a commanded speed generation unit that generates a parametric curve defining a commanded speed for the moving distance based on the control points; and a commanded speed output unit that outputs the generated commanded speed per interpolation unit.

Provided are a numerical controller, a numerical control method, and a numerical control program capable of suppressing reduction in machining surface quality while increasing machining efficiency. A numerical controller comprises: a program analysis unit that analyzes a machining program for controlling a machine tool and calculates a cumulative moving distance for each command block based on a designated coordinate; a control point generation unit that generates, based on the moving distance and a designated speed for each command block, a control point as a set of the moving distance and the speed at a start point and an end point in the command block; a commanded speed generation unit that generates a parametric curve defining a commanded speed for the moving distance based on the control points; and a commanded speed output unit that outputs the generated commanded speed per interpolation unit.

A robotic cutting device includes a cutting tool responsive to a mobile actuator adapted to apply a cutting force in a 3-dimensional (3D) space, and scanning logic configured to identify a cutting path denoted on an article for cutting. Using the cutting path, a mobile actuator is responsive to positioning logic for disposing the cutting tool along the cutting path for performing a prescribed cut on the article. The mobile actuator is a robotic arm responsive to an independent coordinate frame based on a position and orientation of a mobility vehicle supporting the mobile actuator. Cutting is based on traversal of a prescribed path formed from marking or painting optically distinct features. Pixel based analysis reconstructs the path for cutting using a probabilistic evaluation of only the cutting region based on a prediction of path progression, and avoids exhaustive mapping, analysis or reconstruction of the entire article.