A control method for numerical control equipment based on describing the control object using one-point double vectors

Abstract

The present invention provides a method for controlling numerically controlled equipment based on the use of a one-point, two-vector description of a control object, belonging to the field of industrial automated machining and forming. The method comprises: Step S1: When redundant axes exist, the motion of each redundant axis is de-redundanted to obtain the displacement of each redundant axis, and joint interpolation is performed using an interpolator, and the process proceeds to Step S2; otherwise, interpolation is performed using an interpolator, and the process proceeds to Step S2; Step S2: Establishing a transformation matrix; Step S3: Solving the transformation matrix according to a formula; Step S4: Inverting the transformation matrix using an inverse solution algorithm for the operating mechanism and performing motion control of the machining tool. The present invention describes control objects that cannot be described using the "one-point, one-vector" method to achieve motion control of the controlled object.

Description

Technical Field

[0001] The present invention belongs to the field of industrial automated processing and forming, and in particular relates to a numerical control equipment control method based on adopting a one-point double-vector description of a control object. Background Art

[0002] With the rapid development of industrial robotics and high-end CNC machine tool technology, automated machining centers and robotic CNC equipment have been widely used in machining, handling, sorting, spraying, welding, and other fields. Some automated machining centers appear in the form of multi-axis linkage CNC equipment, while others appear in the form of parallel CNC equipment with redundant degrees of freedom, combining multi-joint serial-parallel industrial robots with turntable mechanisms. With the widespread and in-depth application of automation technology, the machining tools equipped with CNC equipment have also evolved from traditional rotationally symmetrical tools to a variety of machining tools.

[0003] Rotationally symmetrical tools mainly include disc milling cutters, ball-end cutters, disc grinding wheels and other tools with rotationally symmetrical shapes in traditional CNC machining. These tools can be expressed using a one-point-one-vector (i.e., a point and a vector). However, many of the tools currently used have non-rotationally symmetrical shapes, such as belt grinding heads, wire laying heads, and straight-line spray guns. These tools can no longer be expressed using a one-point-one-vector. In addition, for machining situations where the tool shape is rotationally symmetrical but its control points are not on the symmetry axis of its geometric shape (such as oblique side machining of disc milling cutters, where the control points are on the outer circumference of its side), it is no longer possible to use a one-point-one-vector to fully define the position and posture of the controlled object. Summary of the Invention

[0004] The purpose of the present invention is to propose a numerical control equipment control method based on the use of one-point two-vector description of the control object, to describe the control object that cannot be described by "one-point one-vector" to achieve control of the movement of the control object.

[0005] The present invention is achieved through the following technical solutions:

[0006] A control method for numerical control equipment using a one-point double vector to describe a control object is disclosed. The numerical control equipment includes a parallel operating mechanism and a turntable. Both the operating mechanism and the turntable are connected as a series kinematic chain. The number of linkage axes on the operating mechanism side is n, and the number of linkage axes on the turntable is 1. The control object is a machining tool provided on the operating mechanism. The control method includes the following steps:

[0007] Step S1: Generate an NC machining program, which contains all virtual axis displacement information and direction information in the machining tool trajectory. When m ≥ 7, it is determined that the NC equipment has redundant axes, and the motion of each redundant axis is non-redundant to obtain the displacement of each redundant axis. An interpolator is used to jointly interpolate the displacements of each virtual axis and each redundant axis in the NC machining program, and the process proceeds to step S2. Otherwise, an interpolator is used to interpolate the displacements of each virtual axis in the NC machining program, and the process proceeds to step S2. Wherein, n is an integer, m is the total number of linked axes of the NC equipment, and m = n + 1.

[0008] Step S2: The workbench and the operating mechanism are placed in the world coordinate system {World}. The first base coordinate system {Bt} is established at the base of the workbench. The corresponding static coordinate system {Rs} and dynamic coordinate system {Rd} are established at the workbench axis. The second base coordinate system {Br} is established at the base of the operating mechanism. The corresponding static coordinate system {Jsk} and dynamic coordinate system {Jdk} are established at the kth joint of the operating mechanism. The tool coordinate system {Tool} is established on the processing tool, and the workpiece coordinate system {Work} is established on the workpiece. The workbench is provided with a fixture to clamp the workpiece. The fixture coordinate system {Fix} is established at the fixture, and the transformation matrix is ​​established. Among them, Represents the transformation matrix, which means that the position or direction in the coordinate system represented by D in the lower left corner is transformed into the coordinate system represented by U in the upper left corner through the transformation matrix T; where k is an integer, 1≤k≤n;

[0009] Step S3: Establish a tool coordinate system {Tool} on the processing tool and define the tool control point under the tool coordinate system {Tool} Tool P, first tool control vector Tool V1, second tool control vector Tool V2, establish the workpiece coordinate system {Work} on the workpiece to be processed, then the tool control point, the first tool control vector, and the second tool control vector in the workpiece coordinate system {Work} are Work P. Work V1, Work V2, according to the formula Solving the transformation matrix in, Work C=[ Work P, Work V1, Work V2, Work V3], Work V3=cross( Work V1, Work V2), Tool C=[ Tool P, Tool V1,Tool V2, Tool V3], Tool V3=cross( Tool V1, Tool V2), cross(·) is the matrix cross product function, (·) -1 represents the inverse matrix;

[0010] Step S4: The inverse solution algorithm of the operating mechanism is used to find the inverse and perform motion control of the processing tool.

[0011] Furthermore, in step S1, making the motion of the redundant axis non-redundant specifically includes the following steps:

[0012] Step S11, calculating the number of redundant axes l=m-6;

[0013] Step S12: setting the speed of each redundant axis and the total speed;

[0014] Step S13: Calculate the displacement of each redundant axis respectively. Redundant axis displacement = redundant axis speed * running time. Running time is a known quantity and can be obtained in the NC machining program.

[0015] Furthermore, in step S3, the tool control point in the workpiece coordinate system {Work} is Work P=[Px w ;Py w ;Pz w ; 1], the first tool control vector is Work V1=[δx w ;δy w ;δz w ; 0], the second tool control vector is Work V2=[βx w βy w βz w ; 0], in the tool coordinate system and the workpiece coordinate system, the relative relationship between the first tool control vector and the second tool control vector is the same, the first tool control vector and the second tool control vector are not parallel, and all the virtual axis displacement information and direction information in the machining tool trajectory contained in the NC machining program is [Px w ,Py w ,Pz w ,δx w ,δy w ,δz w ,βx w ,βy w ,βz w ].

[0016] Furthermore, in step S3, the kinematic equation is established by aligning the tool control point, the first tool control vector and the second tool control vector in the world coordinate system {World}. Among them, when the CNC equipment is installed, Obtained through measurement or calibration, it is considered a known quantity in the process of solving the kinematic equation. When the workpiece is installed, Obtained through measurement or calibration, it is considered as a known quantity in the process of solving the kinematic equation. When the machining tool is installed on the CNC equipment, can be obtained through measurement or calibration and is considered as a known quantity in the process of solving the kinematic equations. Tool P. Tool V1, Tool V2 is user-defined and is considered a known quantity in the process of solving the kinematic equations. Work P. Work V1, Work V2 is obtained through the NC machining program and is considered a known quantity in the process of solving the kinematic equation. is the redundant axis rotation transformation matrix,

[0017] Furthermore, the known matrices in the kinematic equation are multiplied to obtain the simplified equation By constructing a matrix for this simplified equation, we get the formula Constructing the matrix involves: Tool P. Tool V1, Tool V2 constructs the expression of the third tool control vector in the tool coordinate system {Tool} Tool V3, use Tool V1, Tool V2, Tool V3 and Tool P constructs the control element matrix under the tool coordinate system {Tool} Tool C=[ Tool P, Tool V1, Tool V2, Tool V3], with Work P. Work V1, Work The expression of the third tool control vector in the workpiece coordinate system {Work} of V2 construction Work V3, use Work P. Work V1, Work V2 and Work V3 constructs the control element matrix under the workpiece coordinate system {Work} Work C=[ Work P,Work V1, Work V2, Work V3].

[0018] Furthermore, the following steps are included:

[0019] Step S5: designing a coordinate system interface for inputting and setting the known quantities in the numerical control equipment.

[0020] Furthermore, the step S5 is specifically as follows: the coordinate system transformation relationship required to establish the kinematic equation is represented in the coordinate system interface of the CNC equipment as a pattern of a homogeneous transformation matrix, a tool control point, a first tool control vector, and a second tool control vector, and the coordinate system interface is designed to display, input and set the elements of the coordinate transformation matrix, and the coordinate system interface is associated with the common zero point offset area of ​​the CNC equipment, and the area is used as the actual data storage area, and the data in the area is read in the inverse solution algorithm to complete the kinematic calculation.

[0021] Furthermore, the processing tool includes a tool with a non-rotationally symmetrical outer shape, or a tool with a rotationally symmetrical outer shape but a control point thereof not on the symmetry axis of its geometric shape.

[0022] Furthermore, in step S1, when m≥7, the workbench is preferentially used as a redundant axis.

[0023] The present invention has the following beneficial effects:

[0024] 1. The present invention first makes the generated NC machining program include all the virtual axis displacement information and direction information in the machining tool trajectory, and performs redundancy processing on the redundant axes if they exist. Then, multiple coordinate systems are set as needed, and a transformation matrix between the coordinate systems is established to represent the coordinate system transformation relationship. Then, the tool control point, the first tool control vector and the second tool control vector in the tool coordinate system are defined, and the tool control point, the first tool control vector and the second tool control vector in the workpiece coordinate system are obtained according to the NC machining program. Then, the transformation matrix is ​​obtained according to the formula. The The inverse solution algorithm of the operating mechanism is brought into play to obtain the inverse and perform motion control of the machining tool. This allows the description of the control object that cannot be described by "one point one vector", and then the motion of the control object is controlled. At the same time, the readability and reusability of the NC machining program are achieved, and the linkage interpolation control of the motion is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described in detail below with reference to the accompanying drawings.

[0026] Figure 1 Schematic diagram of the control object of the present invention.

[0027] Figure 2 This is a schematic diagram of a scenario of the numerical control equipment of the present invention.

[0028] Figure 3 Schematic diagram of establishing a kinematic model for the present invention.

[0029] Figure 4 This is a schematic diagram of constructing the third control vector during the kinematic solution process of the present invention.

[0030] Figure 5 The coordinate system interface designed for the present invention. DETAILED DESCRIPTION

[0031] When the control object of the CNC equipment is Figure 1 When the shape shown is a non-rotationally symmetrical processing tool (such as a belt grinding head, a wire laying head, a straight-line spray gun, etc.), or a processing tool with a rotationally symmetrical shape but whose control point is not on the symmetry axis of its geometric shape (such as a disc milling cutter, a ball-end cutter, a disc grinding wheel, etc., although the tool shape is rotationally symmetrical, the control point is not on the symmetry axis of its geometric shape; for example, when the disc milling cutter is processing the oblique side, the control point is on the outer circumference of its side), the traditional "one point one vector" can no longer be described, and it is necessary to use the "one point two vectors" in the present invention for description, wherein the CNC equipment includes a parallel operating mechanism and a turntable, the operating mechanism and the turntable are both serial motion chains, the number of linkage axes on the operating mechanism side is n, the number of linkage axes of the turntable is 1, the control object is the processing tool set on the operating mechanism, and the total number of linkage axes of the CNC equipment is m, m=n+1; in this embodiment, a 6-joint robot is used as the operating mechanism for explanation. For machine tool equipment, the six linked axes already include the turntable, so redundant axes can be avoided when designing the machine tool structure, and redundancy scenarios rarely occur.

[0032] The control method of numerical control equipment based on the description of the control object by using one-point double vectors includes the following steps:

[0033] Step S1: Generate an NC machining program, which contains all virtual axis displacement information and direction information in the machining tool trajectory. When m ≥ 7, it is determined that the NC equipment has redundant axes, and the motion of each redundant axis is made non-redundant to obtain the displacement of each redundant axis. An interpolator is used to jointly interpolate the displacements of each virtual axis and each redundant axis in the NC machining program, and the process proceeds to step S2. Otherwise, the interpolator is used to interpolate the displacements of each virtual axis in the NC machining program, and the process proceeds to step S2.

[0034] Specifically, the process of generating NC machining programs is as follows: the CAD / CAM software generates the machining tool path, and in the process of generating the NC machining program, the virtual axis displacement information and direction information of all workpiece coordinate systems in the machining tool path are retained [Px w,Py w ,Pz w ,δx w ,δy w ,δz w ,βx w ,βy w ,βz w ], only the format changes are made, such as adding processing instructions such as G or M, etc. The position and direction information involved are completely based on the values ​​of the processing tool trajectory file, specifically the position information of a control point and the direction information of two posture control vectors;

[0035] In this embodiment, the 6-joint robot plus the turntable has a total of 7 linkage axes, that is, there is a redundant axis. The turntable motion is preferably made non-redundant. The speed or position of the turntable is set in the CNC system through explicit input expression.

[0036] More specifically, making the motion of redundant axes non-redundant includes the following steps:

[0037] Step S11, calculating the number of redundant axes l=m-6;

[0038] Step S12: setting the speed of each redundant axis and the total speed;

[0039] Step S13: Calculate the displacement of each redundant axis respectively. Redundant axis displacement = redundant axis speed * running time. Running time is a known quantity and can be obtained in the NC machining program.

[0040] Step S2: Figure 2 As shown, the workbench and the operating mechanism are placed in the world coordinate system {World}, the first base coordinate system {Bt} is established at the base of the workbench, the corresponding static coordinate system {Rs} and dynamic coordinate system {Rd} are established at the workbench axis, the second base coordinate system {Br} is established at the base of the operating mechanism, the corresponding static coordinate system {Jsk} and dynamic coordinate system {Jdk} are established at the kth joint of the operating mechanism, the tool coordinate system {Tool} is established on the processing tool, and the workpiece coordinate system {Work} is established on the workpiece. The workbench is provided with a fixture to clamp the workpiece, which is a turntable fixture. The fixture coordinate system {Fix} is established at the fixture, and the transformation matrix is ​​established Among them, represents a conversion matrix, which represents the conversion of the position or direction in the coordinate system represented by the lower left corner D to the coordinate system represented by the upper left corner U through the transformation matrix T. In this embodiment, m=7, 1≤k≤6;

[0041] Step S3: Establish a tool coordinate system {Tool} on the processing tool and define the tool control point under the tool coordinate system {Tool} Tool P, first tool control vector ToolV1, second tool control vector Tool V2, establish the workpiece coordinate system {Work} on the workpiece to be processed, then the tool control point, the first tool control vector, and the second tool control vector in the workpiece coordinate system {Work} are Work P. Work V1, Work V2, according to the formula Solving the transformation matrix in, Work C=[ Work P, Work V1, Work V2, Work V3], Work V3=cross( Work V1, Work V2), Tool C=[ Tool P, Tool V1, Tool V2, Tool V3], Tool V3=cross( Tool V1, Tool V2), cross(·) is the matrix cross product function, (·) -1 represents the inverse matrix;

[0042] Specifically, if Figure 3 As shown, the tool control point in the tool coordinate system {Tool} is Tool P=[Px t ;Py t ;Pz t ; 1], the first tool control vector is Tool V1=[δx t ;δy t ;δz t ; 0], the second tool control vector is Tool V2=[βx t βy t βz t ; 0], the tool control point in the workpiece coordinate system {Work} is Work P=[Px w ;Py w ;Pz w ; 1], the first tool control vector is Work V1=[δx w ;δy w ;δz w ; 0], the second tool control vector is Work V2=[βx w βy w βzw ; 0], the total virtual axis displacement information and direction information in the machining tool trajectory contained in the NC machining program is [Px w ,Py w ,Pz w ,δx w ,δy w ,δz w ,βx w ,βy w ,βz w ];

[0043] In the tool coordinate system {Tool} and the workpiece coordinate system {Work}, the relative relationship between the first tool control vector and the second tool control vector is the same, and the first tool control vector and the second tool control vector are not parallel, that is, the angle between the two vectors is not equal to 0° or 180°. The essence of the present invention's use of a one-point dual vector to express a control object is to express three points in space that are not on the same straight line. In three-dimensional Cartesian space, adding one point to one vector can produce another point. Therefore, expressions with the same meaning in different forms, such as "two points and one vector" and "three points", are within the scope of protection of the present invention.

[0044] The essence of the machining process is to make the tool control point, the first tool control vector and the second tool control vector coincide in the world coordinate system {World}, and to establish the kinematic equations in sequence: Among them, when the CNC equipment is installed, Obtained through measurement or calibration, it is considered as a known quantity in the process of solving the kinematic equation. The three rigid body coordinate transformation relationships are fixed after calibration unless the relative posture relationship between the mechanical structure or equipment is adjusted again. When the workpiece is installed, Obtained through measurement or calibration, it is considered as a known quantity in the process of solving the kinematic equation; when the processing tool is installed at the end of the robot, It can be obtained through measurement or calibration and is considered as a known quantity in the process of solving the kinematic equation; Tool P. Tool V1, Tool V2 is user-defined and is considered a known quantity in the process of solving the kinematic equations; Work P. Work V1, Work V2 is obtained through the NC machining program and is considered a known quantity in the process of solving the kinematic equation. is the redundant axis rotation transformation matrix, Also considered as a known quantity.

[0045] Multiplying the known matrices in the above kinematic equations, we get the simplified equation like Figure 4 As shown, use Tool P. Tool V1, Tool V2 constructs the expression of the third tool control vector in the tool coordinate system {Tool} Tool V3, constructed as Tool V3=cross( Tool V1, Tool V2), i.e. Tool V3 equals Tool V1 and Tool The cross product of V2, Tool V1, Tool V2, Tool V3 and Tool P constructs the control element matrix under the tool coordinate system {Tool} Tool C=[ Tool P, Tool V1, Tool V2, Tool V3], with Work P. Work V1, Work The expression of the third tool control vector in the workpiece coordinate system {Work} of V2 construction Work V3, constructed as Work V3=cross( Work V1, Work V2), use Work P. Work V1, Work V2 and Work V3 constructs the control element matrix under the workpiece coordinate system {Work} Work C=[ Work P, Work V1, Work V2, Work V3], then the above simplified equation can be further simplified to

[0046] Step S4: The process of inverting the robot's inverse solution algorithm and controlling the motion of the processing tool is based on existing technology.

[0047] Step S5: designing an input and setting coordinate system interface for the known quantity in the numerical control equipment;

[0048] Specifically, if Figure 5As shown, the coordinate system transformation relationship required to establish the kinematic equation is represented in the coordinate system interface of the numerical control equipment as a pattern of a homogeneous transformation matrix, a tool control point, a first tool control vector, and a second tool control vector, and the coordinate system interface is designed to display, input, and set the elements of the coordinate transformation matrix, and the coordinate system interface is associated with the common zero point offset area of ​​the numerical control equipment, and the area is used as the actual data storage area, and the data in the area is read in the inverse solution algorithm to complete the kinematic calculation.

[0049] The above description is merely a preferred embodiment of the present invention and therefore cannot be used to limit the scope of the present invention. In other words, equivalent changes and modifications made according to the scope of the patent application and the contents of the specification should still fall within the scope of the patent of the present invention.

Claims

1. A control method for numerical control equipment based on the use of one-point dual-vector description of the control object, characterized by: The numerical control equipment includes a parallel operating mechanism and a turntable. The operating mechanism and the turntable are both connected in a series kinematic chain. The number of linkage axes on the operating mechanism side is n, and the number of linkage axes on the turntable side is 1. The controlled object is a processing tool set on the operating mechanism. The control method includes the following steps: Step S1: Generate an NC machining program, which contains all virtual axis displacement information and direction information in the machining tool trajectory. When m ≥ 7, it is determined that the NC equipment has redundant axes, and the motion of each redundant axis is non-redundant to obtain the displacement of each redundant axis. An interpolator is used to jointly interpolate the displacements of each virtual axis and each redundant axis in the NC machining program, and the process proceeds to step S2. Otherwise, an interpolator is used to interpolate the displacements of each virtual axis in the NC machining program, and the process proceeds to step S2. Wherein, n is an integer, m is the total number of linked axes of the NC equipment, and m = n + 1. Step S2: The workbench and the operating mechanism are placed in the world coordinate system {World}. The first base coordinate system {Bt} is established at the base of the workbench. The corresponding static coordinate system {Rs} and dynamic coordinate system {Rd} are established at the workbench axis. The second base coordinate system {Br} is established at the base of the operating mechanism. The corresponding static coordinate system {Jsk} and dynamic coordinate system {Jdk} are established at the kth joint of the operating mechanism. The tool coordinate system {Tool} is established on the processing tool, and the workpiece coordinate system {Work} is established on the workpiece. The workbench is provided with a fixture to clamp the workpiece. The fixture coordinate system {Fix} is established at the fixture, and the transformation matrix is ​​established. Among them, Represents the transformation matrix, which means that the position or direction in the coordinate system represented by D in the lower left corner is transformed into the coordinate system represented by U in the upper left corner through the transformation matrix T; where k is an integer, 1≤k≤n; Step S3: Establish a tool coordinate system {Tool} on the processing tool and define the tool control point under the tool coordinate system {Tool} Tool P, first tool control vector Tool V1, second tool control vector Tool V2, establish the workpiece coordinate system {Work} on the workpiece to be processed, then the tool control point, the first tool control vector, and the second tool control vector in the workpiece coordinate system {Work} are Work P. Work V1, Work V2, according to the formula Solving the transformation matrix in, Work C=[ Work P, Work V1, Work V2, Work V3], Work V3=cross( Work V1, Work V2), Tool C=[ Tool P, Tool V1, Tool V2, Tool V3], Tool V3=cross( Tool V1, Tool V2), cross(·) is the matrix cross product function, (·) -1 represents the inverse matrix; Step S4: The inverse solution algorithm of the operating mechanism is used to find the inverse and perform motion control of the processing tool.

2. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 1, characterized in that: In step S1, the non-redundant motion of the redundant axis specifically includes the following steps: Step S11, calculating the number of redundant axes l=m-6; Step S12: setting the speed of each redundant axis and the total speed; Step S13: Calculate the displacement of each redundant axis respectively. Redundant axis displacement = redundant axis speed * running time. Running time is a known quantity and can be obtained in the NC machining program.

3. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 1, characterized in that: In step S3, the tool control point in the workpiece coordinate system {Work} is Work P=[Px w ;Py w ;Pz w ; 1], the first tool control vector is Work V1=[δx w ;δy w ;δz w ; 0], the second tool control vector is Work V2=[βx w βy w βz w ; 0], in the tool coordinate system and the workpiece coordinate system, the relative relationship between the first tool control vector and the second tool control vector is the same, the first tool control vector and the second tool control vector are not parallel, and all the virtual axis displacement information and direction information in the machining tool trajectory contained in the NC machining program is [Px w ,Py w ,Pz w ,δx w ,δy w ,δz w ,βx w ,βy w ,βz w ].

4. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 1, 2 or 3, characterized in that: In step S3, the kinematic equation is established by aligning the tool control point, the first tool control vector and the second tool control vector in the world coordinate system {World}. Among them, when the CNC equipment is installed, Obtained through measurement or calibration, it is considered a known quantity in the process of solving the kinematic equation. When the workpiece is installed, Obtained through measurement or calibration, it is considered as a known quantity in the process of solving the kinematic equation. When the machining tool is installed on the CNC equipment, can be obtained through measurement or calibration and is considered as a known quantity in the process of solving the kinematic equations. Tool P. Tool V1, Tool V2 is user-defined and is considered a known quantity in the process of solving the kinematic equations. Work P. Work V1, Work V2 is obtained through the NC machining program and is considered a known quantity in the process of solving the kinematic equation. is the redundant axis rotation transformation matrix, 5. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 4, characterized in that: Multiplying the known matrices in the kinematic equations yields the simplified equation By constructing a matrix for this simplified equation, we get the formula Constructing the matrix involves: Tool P. Tool V1, Tool V2 constructs the expression of the third tool control vector in the tool coordinate system {Tool} Tool V3, use Tool V1, Tool V2, Tool V3 and Tool P constructs the control element matrix under the tool coordinate system {Tool} Tool C=[ Tool P, Tool V1, Tool V2, Tool V3], use Work P. Work V1, Work The expression of the third tool control vector in the workpiece coordinate system {Work} of V2 construction Work V3, use Work P. Work V1, Work V2 and Work V3 constructs the control element matrix under the workpiece coordinate system {Work} Work C=[ Work P, Work V1, Work V2, Work V3].

6. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 4, characterized in that: The following steps are also included: Step S5: designing a coordinate system interface for inputting and setting the known quantities in the numerical control equipment.

7. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 6, characterized in that: The step S5 is specifically as follows: the coordinate system transformation relationship required to establish the kinematic equation is represented in the coordinate system interface of the numerical control equipment as a pattern of a homogeneous transformation matrix, a tool control point, a first tool control vector, and a second tool control vector, and the coordinate system interface is designed to display, input and set the elements of the coordinate transformation matrix, and the coordinate system interface is associated with the common zero point offset area of ​​the numerical control equipment, and the area is used as the actual data storage area, and the data of the area is read in the inverse solution algorithm to complete the kinematic calculation.

8. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 1, 2 or 3, characterized in that: The processing tool includes a tool with a non-rotationally symmetrical outer shape, or a tool with a rotationally symmetrical outer shape but a control point thereof not on the symmetry axis of its geometric shape.

9. The method for controlling numerically controlled equipment based on describing the controlled object using one-point dual vectors according to claim 1, 2 or 3, characterized in that: In step S1, when m≥7, the workbench is preferentially used as a redundant axis.

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