The primary task of machine tools is simultaneously positioning and orienting the cutting tool with respect to the work piece. The mechanism must avoid positioning errors, and limit forces and torques required to the motors. A novel approach for combined design and control of manufacturing means is proposed in this work. The focus is on the optimization of the control logic of a redundant 6 axis milling machine, derived from the 5 axis milling machine by adding redundant degree of freedom to the work piece table. The new mechanism is able to fulfill a secondary task due to the introduction of redundancy. The proposed methodology sets as secondary task the minimization of the rotary motors torque, or the minimization of the norm of the positioning error. The control is based on the solution of a constrained optimization problem, where the constraints equations are the kinematic closure equations, and the objective function is the table motor torque or the positioning error of the tool tip. The implementation of this framework in the virtual machine model of the mechanism shows an improvement of the performances: actually, the introduction of a redundant axis allows the minimization of the torques and position errors.

机床的主要任务是相对于工件同时定位和定向切削刀具。该机构必须避免定位误差，并限制电动机所需的力和转矩。在这项工作中提出了一种新颖的方法，用于组合设计和制造手段的控制。重点是优化冗余6轴铣床的控制逻辑，该控制逻辑是通过向工件台增加冗余自由度而从5轴铣床衍生而来的。由于引入了冗余，因此新机制能够完成第二项任务。所提出的方法将旋转电动机转矩的最小化或定位误差的范式的最小化设定为次要任务。该控制基于约束优化问题的解决方案，其中约束方程是运动闭合方程，目标函数是工作台电动机扭矩或刀尖的定位误差。在该机制的虚拟机模型中该框架的实现显示出性能上的改进：实际上，引入冗余轴可以使扭矩和位置误差最小化。