LINK OPERATING DEVICE CONTROL DEVICE AND CONTROL METHOD

An operation command generator (70) includes: an area division unit (67) configured to divide a line (L) on a flat work surface (S) of a target workpiece W into a straight area (LS) and a corner area (LC), using a sharp boundary surface (B); a straight area operation command generation unit (68) con...

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Bibliographische Detailangaben
Hauptverfasser:	ISOBE, Hiroshi, MARUI, Naoki, SAKATA, Seigo, SHIMURA, Yuuki
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING
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Beschreibung
Zusammenfassung:	An operation command generator (70) includes: an area division unit (67) configured to divide a line (L) on a flat work surface (S) of a target workpiece W into a straight area (LS) and a corner area (LC), using a sharp boundary surface (B); a straight area operation command generation unit (68) configured to generate a command for operating only the linear motion mechanism (31) while keeping the posture of the parallel link mechanism (1) fixed, in the straight area (LS); and a corner area operation command generation unit (69) configured to generate a command so that an acting point (P) of the end effector (29) passes on the boundary surface (B) at a substantially constant speed by the linear motion mechanism (31) and the parallel link mechanism (1) performing coordinated operations in the corner area (LC).