| 摘要 |
PURPOSE:To execute the highly accurate numerical control to fetch a deformation into a robot by executing the control by using a means to execute the coordinate conversion in accordance with the mechanical deformation quantity of the robot itself actually measured beforehand. CONSTITUTION:A coordinate converting device 22 connected with a microcomputer 21 built in a control device 9 executes mutually the coordinate conversion between an absolute coordinate system N and a real action coordinate system R of the mechanical part of a robot based upon the design data. In the control at the time of the conversion from an N system to an R system, the mechanical deformation quantity from the design data of the robot is obtained by measuring actually beforehand and set to the device 22. The device 22 converts a command value concerning the position of a laser torch T to the command value of the R system out of inputted numerical control data, rotates motors M1-M5, irradiates the laser from the torch T to a work W and cuts along a desired channel G.
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