This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of the motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; and c) controlling (1006) the motor with the generated supply voltages.
During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.

A five-axis linkage synchronous tool path interpolation method and system, which utilizes the strict proportional coefficient relationship between points, control points and parameters on the first-order derivative curve of the spline curve, more accurate tool axis path curve interpolation points from the parameters of the tool tip path curve are calculated. There is no need to calculate the tool axis path curve interpolation points according to interval synchronization. It is not affected by the shape consistency of the tool tip path curve and the tool axis path curve.

A five-axis linkage synchronous tool path interpolation method and system, which utilizes the strict proportional coefficient relationship between points, control points and parameters on the first-order derivative curve of the spline curve, more accurate tool axis path curve interpolation points from the parameters of the tool tip path curve are calculated. There is no need to calculate the tool axis path curve interpolation points according to interval synchronization. It is not affected by the shape consistency of the tool tip path curve and the tool axis path curve.

A numerical controller which controls a machine tool on the basis of a program instruction analyzes the program instruction to generate movement instruction data, and sets a value of a constant used for speed change on the basis of a physical amount regarding a curvature at a current position on a movement path based on the generated movement instruction data. Then, the numerical controller calculates movement speeds of axes of the machine tool using the set value of the constant used for the speed change, and controls the axes on the basis of the calculated movement speeds.

This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of said motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; c) controlling (1006) said motor with the generated supply voltages.
During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.

A numerical controller which controls a machine tool on the basis of a program instruction analyzes the program instruction to generate movement instruction data, and sets a value of a constant used for speed change on the basis of a physical amount regarding a curvature at a current position on a movement path based on the generated movement instruction data. Then, the numerical controller calculates movement speeds of axes of the machine tool using the set value of the constant used for the speed change, and controls the axes on the basis of the calculated movement speeds.