COPYING CONTROL METHOD/DEVICE FOR MACHINING/ASSEMBLING DEVICE

Japanese Patent JP3206775

B2

PURPOSE: To provide a copying control method/device which is applied to a job having a varying contact point by estimating the shape of a machining subject or a parts to be assembled based on the information on the contact point detected in real time and then generating a moving path of a tool or the parts to be assembled.
CONSTITUTION: A computer 33 calculates a contact point between a tool 21 and a machining subject 22 and then calculates a velocity conditional function from a normal vector and the parallel moving velocity vector of the tool 21. Then the computer 33 calculates a distance function between the contact point and an intersecting point between the acting line of the acting force and the tool 21 and then calculates an evaluation function from the velocity conditional function and the distance function. Then the computer 33 estimates the shape of the subject 22 and its moving path by a weighting least square method and based on the weighting coefficient obtained from the evaluation functions of plural past contact points. Furthermore the computer 33 produces the control target value of the tool 21 based on those estimated moving path and the work specifications. Thus it is possible to to estimate the moving path of the subject 22 with high accuracy and to improve the expanding performance and the universal applicability of the work.

Nobuhiro Mutoh
Kenichiro Shimokura
Kiyoshi Nonaka

JP29302692A

September 10, 2001

October 30, 1992

Click for automatic bibliography generation  

Nippon Telegraph and Telephone Corporation

B23Q35/12; B25J13/00; G05B13/04; G05B19/18; G05B19/408; G05B19/4093; G05B19/4155; (IPC1-7): G05B19/408; B23Q35/12; B25J13/00

JP3256103A
JP3240105A
JP3184786A
JP3104577A

Furuya Fumio

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