| 摘要 |
In a method according to the invention for the laser machining, in particular laser welding, of a workpiece (4) by means of a laser tool (2), which is arranged on a multiaxis hand (7) of a manipulator, in particular a robot (1), wherein a laser beam (3) emanating from the laser tool (2) travels along a path (6) on the workpiece (4), said path having a first portion (6A, 6C) and a second portion (6B, 6D), which is non-collinear in relation to the first portion, a specific hand axis (A6) of the hand (7) of the manipulator (1) is oriented substantially collinearly in relation to the normal to the path of the first portion (6A, 6C) when travelling along the first portion (6A, 6C) and oriented substantially collinearly in relation to the normal to the path of the second portion (6B, 6D) when travelling along the second portion (6B, 6D). |
