The invention relates to a method of determining toolpaths for an infill structure for a digital 3D model. The invention provides for a framework for planning toolpaths with control over the adaptive width for minimizing over- and underfill and introduce a beading scheme which reduces the bead width variation compared to the state of the art. We show that this framework supports various control schemes (so-called ‘beading schemes’) for determining the bead spacing and extrusion widths. Furthermore we present an approach to accurately realize adaptive bead width. The proposed method provides for a geometric framework allowing various adaptive bead width control schemes used to generate contour-parallel toolpaths which minimize under- and overfill.

The invention relates to a method of determining toolpaths for an infill structure for a digital 3D model. The invention provides for a framework for planning toolpaths with control over the adaptive width for minimizing over- and underfill and introduce a beading scheme which reduces the bead width variation compared to the state of the art. We show that this framework supports various control schemes (so-called ‘beading schemes’) for determining the bead spacing and extrusion widths. Furthermore we present an approach to accurately realize adaptive bead width. The proposed method provides for a geometric framework allowing various adaptive bead width control schemes used to generate contour-parallel toolpaths which minimize under- and overfill.

A machining path creation device includes an analysis unit configured to create a machining path by analyzing a machining program, a shape determination unit configured to determine ON/OFF of a smoothing processing function at each part of the machining path, based on the shape of each part of the machining path created by the analysis unit, and a smoothing processing unit configured to perform smoothing processing on a part of the machining path in which the smoothing processing function is determined to be ON, and not to perform smoothing processing on a part of the machining path in which the smoothing processing function is determined to be OFF, based on a determination result obtained by the shape determination unit.

A machining path creation device includes an analysis unit configured to create a machining path by analyzing a machining program, a shape determination unit configured to determine ON/OFF of a smoothing processing function at each part of the machining path, based on the shape of each part of the machining path created by the analysis unit, and a smoothing processing unit configured to perform smoothing processing on a part of the machining path in which the smoothing processing function is determined to be ON, and not to perform smoothing processing on a part of the machining path in which the smoothing processing function is determined to be OFF, based on a determination result obtained by the shape determination unit.

A machining step monitoring apparatus includes a data segmentation unit, a data length adjuster, and a determination processor. The data segmentation unit defines machining start time and machining end time of each single cycle, and segments, from a first physical quantity that temporally changes during the cycle machining in the machining machine, first measurement data indicating the first physical quantity from the machining start time to the machining end time for each single cycle. The data length adjuster generates the second measurement data by adjusting the data length of the first measurement data to match with the data length of the determination reference data indicating, as a reference, a change in the first physical quantity during the single cycle when the machining machine is normally operating. The determination processor compares the second measurement data with the determination reference data to determine whether the machining machine is normally operating.

A machining step monitoring apparatus includes a data segmentation unit, a data length adjuster, and a determination processor. The data segmentation unit defines machining start time and machining end time of each single cycle, and segments, from a first physical quantity that temporally changes during the cycle machining in the machining machine, first measurement data indicating the first physical quantity from the machining start time to the machining end time for each single cycle. The data length adjuster generates the second measurement data by adjusting the data length of the first measurement data to match with the data length of the determination reference data indicating, as a reference, a change in the first physical quantity during the single cycle when the machining machine is normally operating. The determination processor compares the second measurement data with the determination reference data to determine whether the machining machine is normally operating.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.

A method of controlling an industrial actuator, the method including providing a plurality of consecutive input target points, of which at least one is an intermediate input target point; for one or more of the at least one intermediate input target point, defining at least one virtual target point associated with the intermediate input target point; for one or more of the at least one virtual target point, defining a blending zone associated with the virtual target point; and defining a movement path on the basis of the at least one virtual target point and the at least one blending zone. A control system is also provided.

An interpolation parameter calculation unit calculates an interpolation parameter of a predetermined interpolation calculation formula based on a first plurality of coordinate values input by means of a coordinate input unit and constituting a coordinate pattern for determining a locus pattern of one cycle when a laser beam is vibrated. A locus pattern calculation unit calculates a second plurality of coordinate values constituting the locus pattern based on an interpolation parameter, respective amplitudes of the locus pattern in an x-axis direction that is a moving direction of a processing head and a y-axis direction that is a direction orthogonal to the x-axis direction, a frequency of the locus pattern, and a control cycle of a beam vibration mechanism for vibrating the laser beam.

The invention relates to a method for the automated determination of characteristic curves and/or characteristic maps of devices, which comprises the following method steps: acquisition of a measurement data set, execution of an iteration method with the iteration steps calculation of an iteration result from the measurement data set using a neural network, acquisition of a termination parameter, checking the termination parameter and terminating the iteration method if the termination parameter matches a termination criterion, as well as the optical visualization of the iteration result and the measurement data set and repeating the iteration steps.