Method and apparatus for reducing cross-coupled movement through the structural dynamics of a computer numerically controlled machine
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United States of America Patent
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Jun 15, 1993
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app pub date -
Feb 25, 1992
filing date -
Feb 25, 1992
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Abstract
A method and apparatus are disclosed for reducing the cross-coupled movement in a member of a CNC machine caused by movement in another member of the machine through the structural dynamics of the machine. The method includes receiving the discrete position commands for a member oriented in one axis of movement for the machine, transforming the discrete position commands to attenuate frequency components that contribute to the movement coupled through the structural dynamics of the machine, and generating velocity commands from the transformed discrete position commands to control the servos that drive the members. The discrete position command transform is preferably a second order filter that implements the transfer functions of a digital notch filter and digital low pass filter. The second order filter that transforms the discrete position commands is implemented in a digital computer by state variable difference equations.
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