Method of controlling positioning control apparatus and positioning control apparatus

A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor,...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	Kashiki, Hajime, Horiuchi, Yuhei, Fujimori, Jun, Kawakami, Daisuke, Hara, Kazunori
Format:	Patent
Sprache:	eng
Schlagworte:	BORING 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 TURNING 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; 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.