Numerical control of a multi-axis machine tool for controlling the position of the tool center point position

Numerical control for controlling a multi-axis machine tool having at least three linear axes and three rotational axes including a first axis of rotation, a second rotation axis and a third axis of rotation, numbered in order of occurrence in the region of a tool to a table for performing a mechanical treatment while the position and the direction of the tool relative to a workpiece is controlled by an automatic actuation, said numerical controller comprising: a movement command analysis means for analyzing a linear axis motion command for a linear axis, which is one of the three linear axes, a rotary axis movement command for an axis of rotation, which is one of the three axes of rotation, and a tool length compensation command and for generating a tool length compensation vector from the tool length compensation command; a linear axis interpolation means for obtaining a tool center point position by interpolating the linear axis motion command in a defined table on the table coordinate system in each interpolation; a rotation axis interpolation means for obtaining a first rotation axis position of the first axis of rotation, a second rotation axis position of the second axis of rotation and a third axes of rotation position to the third rotation axis by interpolating the rotation axes of motion command in every interpolation; an automatic control point position calculation means for obtaining a control point position in which the control point position of the tool to the tool center point position is a drive means for driving the three linear axes to the control point position, and for driving the three axes of rotation to position the first rotation axis, the position of the second axis of rotation, respectively ...