The invention relates to a method for ascertaining a rough trajectory from a specified contour for controlling a machine tool which has at least two mutually redundant drive devices for carrying out superimposed movements, wherein the contour is determined by a contour function which is defined in portions at least by contour nodal points P.sub.0-P.sub.n+1 with ascending indices and contour portion functions p.sub.0-p.sub.n assigned to the contour nodal points P.sub.0-P.sub.n+1 and has a contour starting nodal point P.sub.0, wherein the rough trajectory is determined by a rough trajectory function which is defined in portions by rough trajectory nodal points Q.sub.0 to Q.sub.n+1 with ascending indices and has a rough trajectory starting nodal point Q.sub.0, wherein the rough trajectory starting nodal point Q.sub.0 is equated to the contour starting nodal point P.sub.0 and then in a first iteration step, on the basis of the contour nodal points P.sub.j to P.sub.n+1, the index value k of which is greater than or equal to the index value j of the respective rough trajectory starting nodal point that contour nodal point P.sub.k which has the smallest possible index value k and the distance of which from the rough trajectory starting nodal point Q.sub.j still just satisfies a specified distance condition is ascertained, and in a second iteration step, a respective following rough trajectory nodal point Q.sub.j+1 which follows the respective rough trajectory starting nodal point Q.sub.j and lies on a connecting line between Q.sub.j and P.sub.k or between Q.sub.j and a centroid of the portion contour P.sub.j to P.sub.k is ascertained.

The invention relates to a method for ascertaining a rough trajectory from a specified contour for controlling a machine tool which has at least two mutually redundant drive devices for carrying out superimposed movements, wherein the contour is determined by a contour function (P.sub.j, p.sub.j) which is defined in portions by contour nodal points P.sub.0−P.sub.n+1 and respective contour portion functions p.sub.0−p.sub.n, wherein a respective contour portion function p.sub.j connects two adjacent contour nodal points P.sub.j, P.sub.j+1, wherein the rough trajectory is determined by a rough trajectory function (Q.sub.j, q.sub.j) which is defined in portions by rough trajectory nodal points Q.sub.0−Q.sub.n+1 and respective rough trajectory portion functions q.sub.0−q.sub.n, wherein a respective rough trajectory portion function q connects two adjacent rough trajectory nodal points Q.sub.j, Q.sub.j+1, wherein, for each contour nodal point P.sub.j, a respective assigned rough trajectory nodal point Q.sub.j is ascertained in such a manner that a difference in the gradients of the two adjacent rough trajectory portion functions q.sub.j−1, q.sub.j which contain this rough trajectory nodal point Q.sub.j is minimal and that the distance of the contour nodal point P.sub.j from the rough trajectory nodal point Q.sub.j satisfies a specified distance condition.

The invention relates to a method for ascertaining a rough trajectory from a specified contour for controlling a machine tool which has at least two mutually redundant drive devices for carrying out superimposed movements, wherein the contour is determined by a contour function (P.sub.j, p.sub.j) which is defined in portions by contour nodal points P.sub.0−P.sub.n+1 and respective contour portion functions p.sub.0−p.sub.n, wherein a respective contour portion function p.sub.j connects two adjacent contour nodal points P.sub.j, P.sub.j+1, wherein the rough trajectory is determined by a rough trajectory function (Q.sub.j, q.sub.j) which is defined in portions by rough trajectory nodal points Q.sub.0−Q.sub.n+1 and respective rough trajectory portion functions q.sub.0−q.sub.n, wherein a respective rough trajectory portion function q connects two adjacent rough trajectory nodal points Q.sub.j, Q.sub.j+1, wherein, for each contour nodal point P.sub.j, a respective assigned rough trajectory nodal point Q.sub.j is ascertained in such a manner that a difference in the gradients of the two adjacent rough trajectory portion functions q.sub.j−1, q.sub.j which contain this rough trajectory nodal point Q.sub.j is minimal and that the distance of the contour nodal point P.sub.j from the rough trajectory nodal point Q.sub.j satisfies a specified distance condition.

The invention relates to a method for ascertaining a rough trajectory from a specified contour for controlling a machine tool which has at least two mutually redundant drive devices for carrying out superimposed movements, wherein the contour is determined by a contour function which is defined in portions at least by contour nodal points P.sub.0-P.sub.n+1 with ascending indices and contour portion functions p.sub.0-p.sub.n assigned to the contour nodal points P.sub.0-P.sub.n+1 and has a contour starting nodal point P.sub.0, wherein the rough trajectory is determined by a rough trajectory function which is defined in portions by rough trajectory nodal points Q.sub.0 to Q.sub.n+1 with ascending indices and has a rough trajectory starting nodal point Q.sub.0, wherein the rough trajectory starting nodal point Q.sub.0 is equated to the contour starting nodal point P.sub.0 and then in a first iteration step, on the basis of the contour nodal points P.sub.j to P.sub.n+1, the index value k of which is greater than or equal to the index value j of the respective rough trajectory starting nodal point that contour nodal point P.sub.k which has the smallest possible index value k and the distance of which from the rough trajectory starting nodal point Q.sub.j still just satisfies a specified distance condition is ascertained, and in a second iteration step, a respective following rough trajectory nodal point Q.sub.j+1 which follows the respective rough trajectory starting nodal point Q.sub.j and lies on a connecting line between Q.sub.j and P.sub.k or between Q.sub.j and a centroid of the portion contour P.sub.j to P.sub.k is ascertained.

A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.

A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.

A control device, a method of controlling the control device and recording medium are provided. An adherence performance of all of a plurality of servo control systems is improved. A controller predicts a response of a first servo control system corresponding to a corrected trajectory and corrects a first command value or generates a second inverse kinematics trajectory using the predicted response.

A servo control device includes a coarse-movement reference model unit calculating a coarse-movement model position by performing predetermined filter computation based on a position command; a coarse-movement follow-up control unit controlling the coarse-movement shaft motor such that a coarse-movement-shaft motor position follows the coarse-movement model position based on the coarse-movement-shaft motor position provided from the coarse-movement shaft motor and the coarse-movement model position; an integrated reference model unit calculating an integrated model position by performing predetermined filter computation based on a position command; and a fine-movement follow-up control unit controlling the fine-movement shaft motor such that a fine-movement-shaft motor position follows a fine-movement model position based on the fine-movement-shaft motor position provided from the fine-movement shaft motor and the fine-movement model position obtained from the integrated model position and the coarse-movement model position.