| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a trajectory control device capable of restraining a trajectory error even when a feeding speed transiently changes due to an effect of acceleration and deceleration. <P>SOLUTION: A trajectory control device controls a trajectory of a movable section of a machine, where the movable section thereof driven by a plurality of movable axes, by concurrently controlling the plurality of the movable axes. The trajectory control device comprises: an interpolation and acceleration/deceleration calculation section which interpolates, accelerates or decelerates a given instruction path; an axis distribution section which generates position instructions for the plurality of the movable axes in accordance with the interpolated, accelerated or decelerated instruction path; a correction vector calculation section which calculates a correction vector for correcting a trajectory error on the basis of the position instructions for the plurality of the movable axes as well as the interpolated, accelerated or decelerated instruction path; a position instruction correction section which corrects the position instructions for the plurality of the axes using the calculated correction vector; and a servo control section which concurrently controls the plurality of the movable axes so that positions of the plurality of the movable axes follows the corrected position instructions for the plurality of the movable axes. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
