| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for machining a workpiece by a multi-axial manipulator such as an industrial robot having a tool proportionally moved by a control unit of the manipulator and performing a specific movement at several degrees of freedom. <P>SOLUTION: A degree of freedom of a tool 3 is evaluated with a degree of freedom of a shaft of a manipulator in real time, and a tool tip (TCP) is moved according to a predetermined continuous processing path or a partially continuous processing geometry (step function), so as to decide the movement of a manipulator. This invention proposes a device suitable for performing the above-mentioned method, and the movements of a tool 3 and the tool tip can be controlled by the manipulator control units 2, 3 at the time of processing a workpiece. Thus, an overall processing time is drastically reduced. <P>COPYRIGHT: (C)2004,JPO |
