Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks

摘要

The workpiece (4) processing method involves evaluating a degree of freedom of the tool (3) together with a degree of freedom of axes of manipulator (2) in real time to move the tool tip (TCP) according to a predefined contiguous or part dependent processing geometry (step function) and to determine movement of the manipulator. The movement control of the tool tip is performed by a manipulator control unit (2.3) which uses coordinates of the processing geometry. An Independent claim is also included for a processing apparatus.