| 摘要 |
PROBLEM TO BE SOLVED: To provide a tool positioning control method for machine tool with which a tool can be surely positioned with respect to a work while specifying the attitude of the tool loaded on a spindle shaft when a work stand and the spindle shaft are respectively supported on a pair of horizontal shafts to respectively change attitudes around a pair of vertical shafts. SOLUTION: An interval d4 of first and second vertical shafts, heights d3 and d5 of first and second horizontal shafts and a distance d1 from the first horizontal shaft to a work fixing plane are specified. At the time of working, when a working position (px, py, pz) of the work is specified on a work coordinate system X0Z0 set on the work fixing plane or tool attitude data (bx, by, bz) for specifying the attitude of the spindle shaft on the work coordinate system X0Z0 are specified, on the basis of an inverse kinematics equation, a distance d7 from the second horizontal shaft to the working position, an oscillating angleθ2 of the work stand, oscillating anglesθ3 andθ5 of the first and second horizontal shafts and an oscillating angleθ6 of the spindle shaft can be calculated.
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