Multi-axis machine tool and methods of controlling the same
One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.
1. An apparatus, comprising:
a scan lens arranged and configured to focus a beam of a laser light thereby producing a focused beam of the laser light, wherein the focused beam of the laser light has a beam waist and propagates along a beam axis;
a linear actuator to move the scan lens along at the beam axis;
at least one positioner arranged between a laser source and the scan lens, wherein the at least one positioner is operative to move the beam waist along the beam axis, wherein a bandwidth of the at least one positioner is higher than a bandwidth of the linear actuator, and wherein the at least one positioner includes at least one selected from a group consisting of an acousto-optic deflector (AOD) system, a microelectromechanical systems (MEMS) mirror system and an adaptive optical (AO) system; and
a controller communicatively coupled to the linear actuator and the at least one positioner, wherein the controller is operative to:
generate a low-frequency linear actuator command and a high-frequency linear actuator command based, at least in part, on an input linear actuator command, a first output linear output command, a second output linear output command, wherein the low-frequency linear actuator command has a frequency content that is within the bandwidth of the linear actuator, and wherein the high-frequency linear actuator command has a frequency content that is within the bandwidth of the at least one positioner;
output a low-frequency content linear actuator command to the linear actuator; and
output a high-frequency content linear actuator command to the at least one positioner.
2. The apparatus of claim 1 , wherein the frequency content of the high-frequency linear actuator command exceeds the bandwidth of the actuator.
3. The apparatus of claim 1 , further comprising at least one galvanometer-driven mirror system arranged between the scan lens and the at least one positioner.