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EMC2 is a software system for computer control of machine tools such as milling machines, cutting machines, robots, hexapods, etc. EMC2 is Free software released under the terms of the GNU GPL (General Public License).
Optimal Controller for a 5-axis Machine Tool
“Optimal Controller for a 5-axis Machine Tool” aims to demonstrate how to build powerful and robust robotics applications in a simple way with Open CASCADE components.
this application capable of calculating the joint coordinates of a 5-axis milling machine was designed using the following three algorithms:
- The inverse kinematic model of the machine,
- A “Resolve Motion Rate” using the 6×5 Jacobian matrix of the machine,
- A “Resolve Motion Rate” using the 3×5 Jacobian matrix of the machine and an optimization criterion that minimizes the machine displacements by allowing a slight error of the tool orientation around the normal of the surface to be milled.
Optimal-Controller-for-a-5-axis-Machine-Tool
kinematics
toolpath
License:Public-Domain
License:LGPL
License:GPL
cam
robotics
cnc
visualization
