CONTROL METHOD OF POSITIONING CONTROL DEVICE AND POSITIONING CONTROL DEVICE

A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance, the relational expression defining a relation of a sideslip amount of a tip end of a machining tool in a second direction with pressing force generated when the t...

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Bibliographische Detailangaben
Hauptverfasser:	HARA, Kazunori, FUJIMORI, Jun, HORIUCHI, Yuhei, KASHIKI, Hajime, KAWAKAMI, Daisuke
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CLADDING OR PLATING BY SOLDERING OR WELDING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MACHINE TOOLS MANIPULATORS METAL-WORKING NOT OTHERWISE PROVIDED FOR MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SOLDERING OR UNSOLDERING TRANSPORTING WELDING WORKING BY LASER BEAM
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Beschreibung
Zusammenfassung:	A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance, the relational expression defining a relation of a sideslip amount of a tip end of a machining tool in a second direction with pressing force generated when the tip end of the machining tool is pressed against a predetermined position on a machined surface of a workpiece in a first direction in a state where the tip end of the machining tool coincides with the predetermined position, the second direction being parallel to the machined surface of the workpiece, the first direction being perpendicular to the machined surface of the workpiece; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.