Local structurization kinematic decoupling of six-leg virtual-axis NC machine tool

Decoupling is always a difficult problem in the field of virtual-axis numerical control (NC) machine servocontrol. In this paper, the idea of local structurization method is combined with the theory of decoupling. A new decoupling method, local structurization decoupling method, is proposed first. Jacobian matrix is decomposed into two matrices-translation matrix and rotation matrix. So decoupling between parallel motion and rotation is implemented in a six-leg virtual-axis NC machine tool for small time intervals.