| 摘要 |
Provided is a work device which anchors and carries out cutting work on a material to be cut (27), said work device comprising: a grip part (26) which grips the material to be cut (27); a movable part (23) which moves the grip part (26); a drive part (25) which drives the movable part (23) and adjusts the grip force from the grip part (26); and a sensor (24) which monitors the grip force from the grip part (26). The work device further comprises: a computation part (141) comprising a grip force simulation part (132) which computes the grip force in accordance with a predicted shape into which the material to be cut is being cut, such that the degree of deformation of the material to be cut is maintained within a prescribed range during the cutting thereof; and a control part (142) comprising a grip force control part (134) which controls the drive part (25) on the basis of a set value of the grip force which is computed with the grip force simulation part (132), and controls the grip force from the grip part (26). |
