| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable a control device to be manufactured at low cost by determining a focusing position as the center point of the tools of a multiaxis robot, an optical axis as an expanding/contracting joint, and a scanning optical system as a rotary joint. SOLUTION: Laser maching is performed by converging a laser beam at a desired position through a focusing optical system and a scanning optical system. Then, the first arm 202 corresponds to an optical path from the focal point C to the ellipsoidal mirror 128, the second arm 205 corresponds to an optical path from the ellipsoidal mirror 128 to the X-axis scanning mirror, and the third arm 208 corresponds to an optical path from the X-axis scanning mirror to the Y-axis scanning mirror. The fourth arm 220 corresponds to an optical path from the Y-axis scanning mirror to the machining point TCP. In other words, the tip end of the fourth arm 220 becomes the center point of the tools of the robot model 200. In determining, from the coordinate of the focusing position, the optical axis length of the focusing optical system and the scanning angle of the scanning optical system, the focusing position is used as the center point of the tools of a multiaxis robot, an optical axis as an expanding/ contracting joint, and a scanning optical system as a revolute joint.</p> |
