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Title:
CONTROL METHOD OF POSITIONING CONTROL DEVICE AND POSITIONING CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/043563
Kind Code:
A1
Abstract:
The control method of the positioning control device includes: a step for deriving in advance a specified relational expression defining the relationship between a pressing force applied when the tip of a machining tool is pressed against a surface to be machined in a first direction perpendicular to the surface in a state in which the tip of the machining tool is aligned at a predetermined position on the surface to be machined and a lateral sliding amount of the tip of the machining tool in a second direction parallel to the surface to be machined; a step for detecting, by using a force sensor, a pressing force during the machining; a step for continually detecting, in accordance with the predetermined relational expression, a lateral sliding amount corresponding to the pressing force detected by the force sensor; a step for correcting a position command value for the end of the arm of the positioning control device on the basis of the calculated lateral sliding amount; and a step for machining the workpiece while moving the end of the arm of the positioning control device in accordance with the corrected position command value.

Inventors:
HORIUCHI, Yuhei
KAWAKAMI, Daisuke
HARA, Kazunori
FUJIMORI, Jun
KASHIKI, Hajime
Application Number:
JP2017/031155
Publication Date:
March 08, 2018
Filing Date:
August 30, 2017
Export Citation:
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Assignee:
KAWASAKI JUKOGYO KABUSHIKI KAISHA (1-1 Higashikawasaki-cho 3-chome, Chuo-ku Kobe-sh, Hyogo 70, 〒6508670, JP)
International Classes:
B25J13/00; B23K20/12; B25J9/10; B25J13/08; G05B19/404
Domestic Patent References:
WO2012004017A12012-01-12
Foreign References:
JP2008296310A2008-12-11
JPS63155302A1988-06-28
JPH0446782A1992-02-17
JP2016036858A2016-03-22
JP2004136316A2004-05-13
JP2016117085A2016-06-30
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (3rd Fl, Bo-eki Bldg. 123-1, Higashimachi, Chuo-ku, Kobe-sh, Hyogo 31, 〒6500031, JP)
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