A method, apparatus, processor, and computer-readable storage medium for achieving tool axis speed limiting control via five-axis RTCP vector interpolation.

Abstract

This invention relates to a method for tool axis speed limiting control using five-axis RTCP vector interpolation, comprising the following steps: calculating the tool tip velocity at the trajectory connection point of a machining toolpath; calculating the ratio of the tool axis swing angle to the tool tip length at the trajectory connection point; calculating the unit vector of the instantaneous swing angular velocity direction of the tool axis at the trajectory connection point; calculating the tool axis swing angular acceleration value at the trajectory connection point; calculating the tool axis swing angular velocity value at the trajectory connection point; and calculating the tool tip velocity value at the trajectory connection point. This invention also relates to a device, processor, and computer-readable storage medium for implementing five-axis RTCP vector interpolation tool axis speed limiting. By employing the method, device, processor, and computer-readable storage medium of this invention for implementing five-axis RTCP vector interpolation tool axis speed limiting control, the angular velocity and angular acceleration of the tool axis vector swing are estimated, and the tool tip velocity is limited by the turning transition time, making the rotary axis movement smoother and effectively ensuring machining results.

Description

Technical Field

[0001] This invention relates to the field of CNC machining, and more particularly to the field of five-axis RTCP vector machining. Specifically, it relates to a method, apparatus, processor, and computer-readable storage medium for achieving tool axis speed limiting control through five-axis RTCP vector interpolation. Background Technology

[0002] Compared to general-purpose three-axis CNC machine tools, five-axis CNC machining offers significant advantages and is primarily used for machining complex, irregularly shaped workpieces and special processes. The application of five-axis machining is becoming increasingly widespread, and the performance requirements are also becoming more stringent. RTCP vector interpolation is one of the key technologies in five-axis beveling; the continuity of the tool axis oscillation speed directly affects the final machining effect.

[0003] Currently, most speed planning methods for five-axis vector interpolation involve speed planning for the tool tip trajectory, while the tool axis vector follows the tool tip trajectory for dynamic interpolation. When the tool axis vector of the original trajectory changes unevenly, especially at the connection point of two trajectory segments, it can easily lead to discontinuous angular velocity of the tool axis swing, causing machine tool vibration and resulting in unsatisfactory machining effects. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device, processor, and computer-readable storage medium for achieving tool axis speed limiting control through five-axis RTCP vector interpolation, which is characterized by stable speed, simple operation, and wide applicability.

[0005] To achieve the above objectives, the present invention provides a method, apparatus, processor, and computer-readable storage medium for tool axis speed limiting control via five-axis RTCP vector interpolation, as follows:

[0006] The method for achieving tool axis speed limiting control through five-axis RTCP vector interpolation is characterized by the following steps:

[0007] (1) Calculate the speed of the tool tip at the connection point of the machining toolpath;

[0008] (2) According to the vector interpolation rules, calculate the ratio of the tool axis swing angle to the tool tip length at the trajectory connection point;

[0009] (3) Calculate the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point according to the vector interpolation rules;

[0010] (4) Calculate the angular acceleration of the cutter shaft at the trajectory connection point;

[0011] (5) Calculate the angular velocity of the cutter shaft at the trajectory connection point;

[0012] (6) Calculate the velocity value of the blade tip at the trajectory connection point.

[0013] Preferably, in step (2), the connection point P is calculated. m The ratio of the tool axis swing angle to the tool tip length is as follows:

[0014] The ratio of the cutter shaft swing angle to the cutter tip length at the trajectory connection point is calculated using the following formula:

[0015]

[0016] in, express and The angle of the cutter shaft swing between them The Cartesian coordinate Euclidean distance between the tool tip points of P(u+Δu) and P(u) represents the tool axis vector. The position P of the tool tip is expressed as a function of the parameter u.

[0017] Preferably, the unit vector in the direction of the instantaneous angular velocity of the cutter shaft at the trajectory connection point in step (3) is specifically calculated as follows:

[0018] Calculate the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point using the following formula:

[0019]

[0020] in, and It is a unit vector representing the instantaneous angular velocity of the tool axis at the trajectory connection point.

[0021] Preferably, the calculation of the cutter shaft swing angular acceleration value at the trajectory connection point in step (4) is specifically as follows:

[0022] Calculate the angular acceleration of the cutter shaft at the trajectory connection point using the following formula:

[0023]

[0024] Where, θ t θ1 is the corresponding first rotation axis motion angle, θ2 is the corresponding second rotation axis motion angle, r1 and r2 are the ratios of the tool axis swing angle to the motion angles of the first and second rotation axes during vector interpolation, a1 is the maximum angular acceleration parameter of the first rotation axis, a2 is the maximum angular acceleration parameter of the second rotation axis, and α is the tool axis swing angular acceleration.

[0025] Preferably, the calculation of the cutter shaft oscillation angular velocity at the trajectory connection point in step (5) is specifically as follows:

[0026] Calculate the angular velocity of the cutter shaft at the trajectory connection point using the following formula:

[0027]

[0028] in, This represents the angular velocity of the tool shaft oscillation.

[0029] Preferably, the calculation of the tool tip velocity value at the trajectory connection point in step (6) is specifically as follows:

[0030] Calculate the tip velocity at the trajectory connection point using the following formula:

[0031]

[0032] Among them, T c Let α be the turning time constant. max For the tool axis at P m The maximum angular acceleration at that point.

[0033] The device for implementing tool axis speed limiting control via five-axis RTCP vector interpolation is characterized in that the device comprises:

[0034] A processor is configured to execute computer-executable instructions;

[0035] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the method described above for achieving tool axis speed limiting control via five-axis RTCP vector interpolation.

[0036] The processor for implementing tool axis speed limiting control via five-axis RTCP vector interpolation is characterized in that the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the method for implementing tool axis speed limiting control via five-axis RTCP vector interpolation described above.

[0037] The computer-readable storage medium is characterized in that it stores a computer program thereon, which can be executed by a processor to implement the various steps of the method for achieving tool axis speed limiting control through five-axis RTCP vector interpolation described above.

[0038] The present invention employs a method, apparatus, processor, and computer-readable storage medium for tool axis speed limiting control via five-axis RTCP vector interpolation. By using the proportional relationship between the rotation axis angle and the tool axis vector angle, the angular velocity and angular acceleration of the tool axis vector oscillation are estimated. Then, by limiting the tool tip speed through the turning transition time, the rotation axis movement is made smoother, effectively ensuring the machining effect. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the five-axis RTCP vector interpolation method for achieving tool axis speed limiting control through five-axis RTCP vector interpolation according to the present invention.

[0040] Figure 2 This is a flowchart of the method for achieving tool axis speed limiting control through five-axis RTCP vector interpolation according to the present invention.

[0041] Figure 3 This is a schematic diagram showing the sudden change in tool axis angular velocity at the trajectory connection point in the method for achieving tool axis speed limiting control through five-axis RTCP vector interpolation according to the present invention.

[0042] Figure 4 This is a schematic diagram of the tool vector spherical coordinates for the method of tool axis speed limiting control by five-axis RTCP vector interpolation according to the present invention.

[0043] Figure 5 This is a diagram showing the angular velocity of the tool axis without speed limiting.

[0044] Figure 6 The diagram shows the angular velocities of the first and second rotating axes without tool axis speed limiting.

[0045] Figure 7 The diagram shows the angular velocity of the tool axis after the tool axis speed is limited.

[0046] Figure 8 The diagram shows the angular velocities of the first and second rotating axes after the tool axis speed is limited. Detailed Implementation

[0047] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0048] The method for tool axis speed limiting control using five-axis RTCP vector interpolation of the present invention includes the following steps:

[0049] (1) Calculate the speed of the tool tip at the connection point of the machining toolpath;

[0050] (2) According to the vector interpolation rules, calculate the ratio of the tool axis swing angle to the tool tip length at the trajectory connection point;

[0051] (3) Calculate the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point according to the vector interpolation rules;

[0052] (4) Calculate the angular acceleration of the cutter shaft at the trajectory connection point;

[0053] (5) Calculate the angular velocity of the cutter shaft at the trajectory connection point;

[0054] (6) Calculate the velocity value of the blade tip at the trajectory connection point.

[0055] In a preferred embodiment of the present invention, the connection point P is calculated in step (2). m The ratio of the tool axis swing angle to the tool tip length is as follows:

[0056] The ratio of the cutter shaft swing angle to the cutter tip length at the trajectory connection point is calculated using the following formula:

[0057]

[0058] in, express and The angle of the cutter shaft swing between them The Cartesian coordinate Euclidean distance between the tool tip points of P(u+Δu) and P(u) represents the tool axis vector. The position P of the tool tip is expressed as a function of the parameter u.

[0059] In a preferred embodiment of the present invention, the unit vector of the instantaneous angular velocity direction of the cutter shaft at the trajectory connection point in step (3) is specifically calculated as follows:

[0060] Calculate the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point using the following formula:

[0061]

[0062] in, and It is a unit vector representing the instantaneous angular velocity of the tool axis at the trajectory connection point.

[0063] In a preferred embodiment of the present invention, the calculation of the angular acceleration value of the cutter shaft swing at the trajectory connection point in step (4) is specifically as follows:

[0064] Calculate the angular acceleration of the cutter shaft at the trajectory connection point using the following formula:

[0065]

[0066]

[0067] Where, θ t θ1 is the corresponding first rotation axis motion angle, θ2 is the corresponding second rotation axis motion angle, r1 and r2 are the ratios of the tool axis swing angle to the motion angles of the first and second rotation axes during vector interpolation, a1 is the maximum angular acceleration parameter of the first rotation axis, a2 is the maximum angular acceleration parameter of the second rotation axis, and α is the tool axis swing angular acceleration.

[0068] In a preferred embodiment of the present invention, the calculation of the angular velocity value of the tool shaft swing at the trajectory connection point in step (5) is specifically as follows:

[0069] Calculate the angular velocity of the cutter shaft at the trajectory connection point using the following formula:

[0070]

[0071] in, This represents the angular velocity of the tool shaft oscillation.

[0072] In a preferred embodiment of the present invention, the calculation of the blade tip velocity value at the trajectory connection point in step (6) is specifically as follows:

[0073] Calculate the tip velocity at the trajectory connection point using the following formula:

[0074]

[0075] Among them, T c Let α be the turning time constant. max For the tool axis at P m The maximum angular acceleration at that point.

[0076] The present invention provides an apparatus for implementing tool axis speed limiting control via five-axis RTCP vector interpolation, wherein the apparatus comprises:

[0077] A processor is configured to execute computer-executable instructions;

[0078] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the method described above for achieving tool axis speed limiting control via five-axis RTCP vector interpolation.

[0079] The present invention discloses a processor for implementing tool axis speed limiting control via five-axis RTCP vector interpolation, wherein the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the method for implementing tool axis speed limiting control via five-axis RTCP vector interpolation described above.

[0080] The computer-readable storage medium of the present invention stores a computer program that can be executed by a processor to implement the various steps of the method for achieving tool axis speed limiting control through five-axis RTCP vector interpolation described above.

[0081] In the specific embodiments of the present invention, without changing the position of the tool tip point and the position of the tool axis vector, according to the sudden change amount of the angular velocity of the tool axis swing, the connection speed limit of the tool tip point trajectory is reduced, so that the angular velocity of the tool axis swing is more stable during the machining process, and further the rotational axis speed of the five-axis machine tool is more stable, thereby ensuring the final machining effect.

[0082] In the specification of the present invention, the tool axis vector plane refers to the plane formed by the tool axis vector during the movement of the tool axis. RTCP vector interpolation means that during the interpolation process, the tool axis vector is controllable, and the tool axis moves according to the user-defined tool axis vector plane / surface. The tool axis swing angle refers to the included angle between two adjacent tool axis vectors, which is given by the vector included angle formula. The tool tip point trajectory refers to the point where the tool and the workpiece actually contact during the machining of the machine tool. The tool axis vector point trajectory refers to the point in the machine tool mechanical coordinate system obtained by performing RTCP inverse solution on the tool tip point.

[0083] As Figure 1 shown, the specific implementation steps of the invention are as follows:

[0084] (1) Assume that a known machining tool path is P0, P1…P m …P n-1 、P n , and now it is necessary to calculate the magnitude of the tool tip point speed at point P m (0 < m < n)

[0085] (2) According to the vector interpolation rule, assume that the trajectories intersect at point P m . Now calculate the ratio R m of the tool axis swing angle and the tool tip point length at the connection point P m-1 、R m ;

[0086] (3) According to the vector interpolation rule, calculate the unit vector of the instantaneous swing angular velocity direction of the tool axis at the connection point P m of the trajectory

[0087] (4) Calculate the tool axis swing angular acceleration α at P m of the trajectory m-1、 α m ;

[0088] (5) Calculate the tool axis swing angular velocity value at P m of the trajectory

[0089] (6) Obtain the tool tip point speed at point P m (0 < m < n)

[0090] Figure 2 A flowchart of a five-axis RTCP vector interpolation tool axis speed limiting method is presented. Based on this method, the tool tip trajectory and kinematic constraints are input. Taking the XYZ-BA double-swivel head five-axis machine tool as an example, the specific implementation of the invention is described in conjunction with the accompanying drawings and implementation steps.

[0091] (1) Calculate the ratio of the tool axis swing angle to the tool tip length at the trajectory connection point:

[0092] cutter axis vector The function represented by parameter u has the following specific form:

[0093]

[0094] The position P of the tool tip can also be expressed as a function of the parameter u, in the following form:

[0095] P(u)=g(u),0≤u≤1……(8-2)

[0096] The functional relationships in equations (8-1) and (8-2) are uniquely determined by specific vector interpolation rules, that is, the axis vector plane / surface represented by the machining toolpath is determined. P(u).

[0097] If we take a small change Δu near u, then

[0098]

[0099] P(u+Δu)=g(u+Δu), 0≤u+Δu≤1……(8-4)

[0100] The ratio of the cutter shaft swing angle to the cutter tip length is:

[0101]

[0102] according to Figure 1 As shown, in equation (8-5), express and The angle of the cutter shaft swing between them Let P(u+Δu) represent the Cartesian coordinate Euclidean distance between the knife-point of P(u) and P(u).

[0103] When Δu→0, R(u) is the ratio of the tool axis oscillation angle to the tool tip length at point P(u). For It is generally a rational function of Δu, for A Taylor expansion can be performed to obtain R(u).

[0104] For trajectory When u = 1, R is obtained. m-1 =R(1);

[0105] For trajectory When u = 0, R is obtained. m =R(0).

[0106] (2) Calculate the direction of the angular velocity of the cutter shaft swing at the trajectory connection point.

[0107] As can be seen from step (1), the direction of the angular velocity of the tool axis swing can be obtained by the cross product of the vectors of adjacent tool axes.

[0108]

[0109] After unitization

[0110]

[0111] Taking the limit as Δu→0, we obtain P. m The unit vector in the direction of the instantaneous angular velocity of the tool axis.

[0112] (3) Based on kinematic constraints, estimate the angular acceleration of the cutter shaft at the trajectory connection point:

[0113] Let the maximum angular acceleration parameter of the first rotary axis of the XYZ-BA double-swivel head five-axis machine tool be a1, and the maximum angular acceleration parameter of the second rotary axis be a2;

[0114] In P m At the location where vector interpolation occurs, the ratios of the tool axis swing angle to the motion angles of the first and second rotation axes are r1 and r2, respectively. According to the equation...

[0115]

[0116] In equation (8-6), θ t θ1 is the swing angle of the tool axis, θ2 is the corresponding first rotation axis motion angle, and θ2 is the corresponding second rotation axis motion angle.

[0117] Then the angular acceleration α of the tool shaft swing can be obtained as follows:

[0118]

[0119] According to equation (8-7), the trajectories can be calculated respectively. In P m The angular acceleration α of the cutter shaft at the location m-1、 α m .

[0120] (4) Calculate the speed limit of the blade tip at the trajectory connection point based on the turning time constant.

[0121] According to equation (8-5), we have a system of equations.

[0122]

[0123] In equation (8-8) This represents the angular velocity of the tool shaft oscillation.

[0124] Let the turning time constant be T. c The tool pick-up axis is at P m Maximum angular acceleration α at point max =min(α) m-1， α m Then, according to the acceleration formula and Figure 3 achievable

[0125]

[0126] Combining equations (8-8) and (8-9), we get

[0127]

[0128] Right now

[0129]

[0130] Equation (8-10) yields P after the speed limit of the cutter shaft oscillation. m Connection speed at the blade tip, using The velocity of the tool tip trajectory is planned, and then the position of the rotation axis corresponding to RTCP vector interpolation is calculated.

[0131] The technical solution of this invention indirectly limits the connection speed by calculating three physical quantities: the angular acceleration of the cutter shaft swing, the ratio of the cutter tip length, and the direction of the cutter shaft angular velocity.

[0132] The technical solution of the present invention does not require calculating the expression of the curve. By pre-estimating the kinematic constraints of the tool axis attitude space between adjacent small line segments, the connection speed of the tool tip is calculated using the abrupt change in the angular velocity of the tool axis swing.

[0133] The technical solution of this invention innovatively links the angular velocity jump of the tool shaft swing with the single-axis angular velocity and the tool tip velocity, thereby reasonably limiting the tool tip velocity.

[0134] For the specific implementation scheme of this embodiment, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0135] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0136] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0137] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0138] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0139] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0140] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0141] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0142] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0143] The present invention employs a method, apparatus, processor, and computer-readable storage medium for tool axis speed limiting control via five-axis RTCP vector interpolation. By using the proportional relationship between the rotation axis angle and the tool axis vector angle, the angular velocity and angular acceleration of the tool axis vector oscillation are estimated. Then, by limiting the tool tip speed through the turning transition time, the rotation axis movement is made smoother, effectively ensuring the machining effect.

[0144] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation, characterized in that, The method includes the following steps: (1) Assume a known machining toolpath P0, P1...P m …P n-1 P n Now we need to calculate P. m Magnitude of the blade tip velocity at point (0 < m < n) (2) According to the vector interpolation rules, calculate the ratio of the tool axis swing angle to the tool tip length at the trajectory connection point; (3) Calculate the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point according to the vector interpolation rules; (4) Calculate the angular acceleration of the cutter shaft at the trajectory connection point; (5) Calculate the angular velocity of the cutter shaft at the trajectory connection point; (6) Calculate the velocity value of the tool tip at the trajectory connection point; The calculation of the tool tip velocity value at the trajectory connection point in step (6) is specifically as follows: Calculate the tip velocity at the trajectory connection point using the following formula: Among them, T c Let α be the turning time constant. max For the tool axis at P m The maximum angular acceleration at point R, where m represents the current time, m-1 represents the previous time, and R m R m-1 This represents the ratio of the cutter shaft swing angle to the length of the cutter tip. The unit vector representing the direction of the instantaneous angular velocity of the cutter shaft.

2. The method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation according to claim 1, characterized in that, In step (2), the connection point P is calculated. m The ratio of the tool axis swing angle to the tool tip length is as follows: The ratio of the cutter shaft swing angle to the cutter tip length at the trajectory connection point is calculated using the following formula: in, express and The angle of the cutter shaft swing between them The Cartesian coordinate Euclidean distance between the tool tip points of P(u+Δu) and P(u) represents the tool axis vector. The position P of the tool tip is expressed as a function of the parameter u, where 0 ≤ u ≤ 1.

3. The method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation according to claim 1, characterized in that, In step (3), the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point is calculated as follows: Calculate the unit vector of the instantaneous angular velocity of the cutter shaft at the trajectory connection point using the following formula: in, and is the unit vector of the instantaneous angular velocity of the tool axis at the trajectory connection point, m represents the current moment, and m-1 represents the previous moment.

4. The method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation according to claim 1, characterized in that, The calculation of the angular acceleration value of the cutter shaft swing at the trajectory connection point in step (4) is specifically as follows: Calculate the angular acceleration of the cutter shaft at the trajectory connection point using the following formula: Where, θ t θ1 is the corresponding first rotation axis motion angle, θ2 is the corresponding second rotation axis motion angle, r1 and r2 are the ratios of the tool axis swing angle to the motion angles of the first and second rotation axes during vector interpolation, a1 is the maximum angular acceleration parameter of the first rotation axis, a2 is the maximum angular acceleration parameter of the second rotation axis, and α is the tool axis swing angular acceleration.

5. The method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation according to claim 1, characterized in that, The calculation of the angular velocity of the cutter shaft at the trajectory connection point in step (5) is specifically as follows: Calculate the angular velocity of the cutter shaft at the trajectory connection point using the following formula: in, R represents the angular velocity of the tool axis oscillation, m represents the current time, m-1 represents the previous time, and R m R m-1 This represents the ratio of the cutter shaft swing angle to the length of the cutter tip. This indicates the velocity value at the tip of the blade.

6. A device for implementing tool axis speed limiting control via five-axis RTCP vector interpolation, characterized in that, The device includes: A processor is configured to execute computer-executable instructions; The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation as described in any one of claims 1 to 5.

7. A processor for implementing tool axis speed limiting control via five-axis RTCP vector interpolation, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the steps of the method for achieving tool axis speed limiting control via five-axis RTCP vector interpolation as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the steps of the method for achieving tool axis speed limiting control by five-axis RTCP vector interpolation as described in any one of claims 1 to 5.

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