To minimize variation of the processing accuracy of a member to be bent even in a die-less molding.
In the die-less molding, a bent member is produced by moving the manipulator of an industrial robot supporting one end side and/or the other end side of a long raw material 41 having a high-temperature portion 41a as a boundary on the basis of a previously set target moving trajectory while partially forming on the raw material 41, the high-temperature portion 41a moving to the axial direction thereof to afford a bending moment to the high-temperature portion 41a. At that time, a deviation between the measured or estimated value of a manipulator orbit during movement, and the target moving trajectory is obtained, and when the deviation exceeds a predetermined threshold, the target moving trajectory in processing of the raw material 1 after next step is corrected and is set up.
MORI HIROSHI
OKAHISA MANABU
KINOSHITA YUSUKE
SUYAMA TAKASHI
YASKAWA ELECTRIC CORP
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