| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a cutting resistance estimation method for further improving working precision by more accurately estimating a cutting resistance. <P>SOLUTION: The cutting resistance estimation method of a parallel mechanism type machine tool comprises processes for calculating the direction vector 1 of a ball screw and the position vector B of a main spindle side universal joint by inverse kinematics calculation from the applied position and attitude of the top end of the main spindle (1), and for calculating gravity g', frictional force f' and inertia force F' by solving an equation shown by a formula 5, a formula 9, and a formula 12 (2), and for estimating a cutting resistance d' from armature currents i<SB>j</SB>(j=1 to 6) of an actual servo motor by using a disturbance observer by a formula 2 and a formula 3 (3). <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
