Five-Axis Numerical Control for Singular-Point Error Compensation

The numerical controller performs preliminary determination of the rotary axis solution set before executing the tool tip point control. By calculating and storing the solution set of rotary axis positions that satisfy the tool direction requirement in advance, the controller can quickly select the appropriate solution when passing through singular points, preventing tool direction deviation without compromising compensation accuracy.

The controller continuously monitors the current tool direction and compares it with the intended direction. When approaching a singular point, the feedback mechanism detects the potential deviation and triggers a solution selection adjustment, ensuring the tool direction remains accurate by selecting the most appropriate rotary axis solution based on real-time conditions.

The controller pre-calculates and stores multiple solution sets for rotary axis positions before execution. This preliminary preparation eliminates the need for complex real-time decision-making during operation, as the controller simply needs to retrieve and select from pre-computed solutions based on simple criteria like proximity to previous positions.

The controller dynamically adapts its solution selection strategy based on the machining context. When approaching singular points, it switches to a more conservative selection criterion (close to previous solution) to maintain stability, while using other criteria during normal operation. This dynamic adaptation optimizes both reliability and computational efficiency.