MACHINING APPARATUS, METHOD FOR MAKING INSTRUCTION, METHOD FOR PRODUCING WORKPIECE, CONTROLLER, AND METHOD FOR CONTROL

摘要

A machining apparatus (1) includes a robot (10) and a controller (100). A target acquirer (111) acquires a target value of a position and posture of a distal end (16) of the robot (10). With a movement target value of a distance adjustment actuator (27) of the robot (10) being fixed, a first calculator (112) calculates movement target values of first to third actuators (21, 22, 23) and posture adjustment actuators (24, 25, 26) of the robot (10) corresponding to the target value of the position and posture of the distal end (16). A determiner (113) determines whether a movement target value of one of the actuators (21- 26) is within an allowable range. When out of the allowable range, a second calculator (114) calculates the movement target values of all actuators (21- 27) corresponding to the target value of the position and posture of the distal end (16) to cause the movement target value to fall within the range. An outputter (115) controls the actuators in accordance with the respective movement target values.