Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.

Abstract: A machining apparatus error correction method is implemented in a machining apparatus error correction system. The method includes setting initial operating parameters according to a predetermined machining program, obtaining dimensional detection data during machining of a product, calculating a dimensional correction parameter according to the detection data and a dimensional inspection standard according to a predetermined correction model and generating a correction parameter file readable by the machining apparatus, and distributing the correction parameter file to the corresponding machining apparatus. The initial operating parameters include clamping parameters and dimensional inspection standards.

Abstract: A machining apparatus error correction method is implemented in a machining apparatus error correction system. The method includes setting initial operating parameters according to a predetermined machining program, obtaining dimensional detection data during machining of a product, calculating a dimensional correction parameter according to the detection data and a dimensional inspection standard according to a predetermined correction model and generating a correction parameter file readable by the machining apparatus, and distributing the correction parameter file to the corresponding machining apparatus. The initial operating parameters include clamping parameters and dimensional inspection standards.

Abstract: A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm and a force detecting section that detects force applied to the robot arm, and a calculating step for calculating, based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle for the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third force detection parameter of the force detecting section at the setting angle for the robot arm.

Abstract: A machine tool having a function of automatically correcting a machining program in tool replacement includes: a signal output unit that outputs a signal when a tool is replaced; a machining unit that temporarily machines a workpiece to a predetermined target dimension using the replaced tool; a measurement unit that measures an actual dimension of the temporarily machined workpiece; a detection unit that detects a dimensional difference between the measured actual dimension and the target dimension; and an automatic correction unit that automatically corrects the machining program based on the dimensional difference, wherein the machining unit actually machines the workpiece based on the automatically corrected machining program.

Abstract: A workpiece simulation part estimates the amount of movement of the workpiece from drive information and estimates the current position of the workpiece by adding the amount of movement to the previous position of the workpiece, the drive information being generated for, among at least one actuator, an actuator that is assumed to constrain the workpiece under the constraint conditions. A sensor simulation part uses the current position of the workpiece to generate sensor simulation information. An input/output switching part transmits the drive information to the workpiece simulation part and transmits the sensor simulation information as alternate information of the sensor information to the control-program execution part.

Abstract: There is provided a robot apparatus which is characterized by comprising: a robot comprising a plurality of motors for driving respective joints and a sensor for obtaining force acting on a hand tip; and a controlling unit for obtaining a torque instruction value for each of the plurality of motors such that a force deviation between the force acting on the hand tip and a force target value becomes small, controlling driving of each of the plurality of motors based on the torque instruction value, and performing a stopping process of decreasing the force target value when a stop order for stopping the robot is received.

Abstract: A wireless power transfer foreign object detector having, at least one secondary receiver coil, an adjustable load electrically coupled to the at least one secondary receiver coil, and at least one temperature sensor providing at least one temperature detection signal, wherein the at least one temperature sensor is responsive to at least one thermal state of the at least one secondary receiver coil, and wherein foreign object detection is based at least in part upon the at least one temperature detection signal.

Abstract: The particle beam irradiation apparatus comprises: a position monitor that detects a passing position of a charged particle beam; and an irradiation control apparatus that calculates a distance from a predetermined reference point to the position monitor, calculates a beam irradiation position on an irradiation subject, and controls irradiation of the beam; wherein the irradiation control apparatus includes a position calculation apparatus that calculates the beam irradiation position, based on a beam position detected by the position monitor, a scanning starting point distance information on a distance from a irradiation plane of the irradiation subject to a scanning starting point, of the beam, in a scanning electromagnet, and a position monitor distance information on a distance, from the irradiation plane to the position monitor, that is calculated based on the calculated distance.

Abstract: A motor in an electric vehicle can be controlled by receiving at least one of a user input or vehicle information, selecting one of a plurality of available flux modes using at least one of the user input or the vehicle information, and calculating a control signal, using the selected flux mode, to control the motor of the electric vehicle.

Abstract: The system includes a plurality of vertically spaced medication trays with a base assembly and a motor, responsive to computer commands, mounted on the base assembly. A drive shaft case member extends vertically from the base assembly. A cam assembly includes a plurality of spaced cam members, each cam member having concave portions and lobe portions on a peripheral surface thereof. A first drive clutch selectively engages the motor with both the drive shaft case member and the cam assembly for rotation of both in one direction, while a second drive clutch selectively engages the motor with just the cam assembly for rotation thereof in an opposing direction. The drive shaft case member has a cam follower assembly associated with each cam member, wherein one portion of the cam follower assembly engages the cam element and another portion engages an associated tray when the cam follower engages a selected concave portion on the cam element associated with the tray.

Abstract: A machine tool capable of automatically correcting an orientation of a workpiece or machining attachment based on detection results from position detectors that the machine tool inherently has. The machine tool comprises: position detectors; position deviation determining means; contact detection means that detects a contact between a probe and a surface of the workpiece or the machining attachment based on a position deviation; movable axis stopping means; coordinate value detection means; inclination determining means; and correction means. The inclination determining means moves linear axes to perform detection of contacts between the probe and the surface of the workpiece or the machining attachment at least two different points, and determines an inclination of the workpiece or the machining attachment using the obtained coordinate values. The correction means corrects a mounting error of the workpiece or the machining attachment, or corrects the machining program based on the determined inclination.

Abstract: A programming interface for a control system comprises a display region that provides a representation of a plurality of output cam profiles. The representation provides information concerning latch/unlatch operations of a plurality of cam elements that control on/off states of a plurality of output devices and that form the plurality of output cam profiles.

Abstract: An electronic cam using a servo motor is controlled such that its motion including its acceleration will be connected between synchronized and non-synchronized control sections. A controlled object is moved at a fixed speed during the synchronized control section. A fifth-order function for position control of the electronic cam, a fourth-order function for speed control of the electronic cam and a third-order function for acceleration control of the electronic cam are used in the non-synchronized control section such that operation of the electronic cam at transition points between the synchronized control section and the non-synchronized control section is smoothly controlled.

Abstract: A pulse generation means that generates a pulse each time an XY movable member moves linearly by a certain amount relative to a base is provided. A workpiece and a light and dark pattern member are provided on the base. A tool, a light and dark pattern scanning sensor that scans the light and dark pattern and outputs a scanning signal, and a cutting means that moves the tool with respect to the workpiece in a cutting depth direction, orthogonal to the linear motion direction, are provided on the XY movable member. While the XY movable member moves relative to the base, the tool is moved by the cutting means in accordance with a logical AND operation performed on the scanning signal from the light and dark pattern scanning sensor and the pulse from the pulse generation means to perform machining.

Abstract: A servo control system which comprises an original cam pattern generator 11 for generating a first pattern of a cam shape relative to a phase corresponding to one revolution of a cam mechanism; a corrector 14 for differentiating the original pattern of the original pattern generator 11 with respect to time, multiplying the differentiation value by a constant to find a multiplication value, and subtracting a predetermined phase from the multiplication value to generate a correction cam pattern; and a position command device 14 for adding the above-mentioned correction pattern to the above-mentioned original pattern to generate a second pattern and generating a position command of the above-mentioned servomotor based on the phase corresponding to one revolution of the above-mentioned cam mechanism using the second pattern.

Abstract: A method for controlling an automatically operated lathe provided with at least one spindle and at least one tool rest includes the following steps. First, each of a plurality of transfer position data required in a sequence of machining programs in connection with at least one spindle and at least one tool rest is provided in a form of either one of two types of transfer position data, one of which is cam-reference data directing a transfer position as a function of a cam rotation quantity and the other is time-reference data directing a transfer position as a function of an elapsed time. Next, a time-series allocation of the cam-reference data and the time-reference data is designated in the sequence of machining programs. Then, the cam-reference data and the time-reference data are processed in accordance with the time-series allocation, so as to control a relative feed motion between at least one spindle and at least one tool rest in the sequence of machining programs.

Abstract: A method of controlling an electronic cam type rotary cutter or sealer driven by a servo motor. The method comprises preparing a correct position pattern for a whole region including cutting or sealing and non-cutting or non-sealing zones. An electronic cam curve of a cubic function is used as a position pattern for the non-cutting or nonsealing zone. An electronic cam curve of a quadratic function is used as a speed pattern. A position loop is formed in the whole region on the basis of the electronic cam curve. A position control is performed at every moment on the basis of said prepared correct position pattern, whereby a control is enabled causing a single algorithm to automatically cope with a long and short cutting or sealing operations and a change of a line speed.

Abstract: A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.

Abstract: An electronic cam servo apparatus uses a digital servo controller to perform motion equivalent to a mechanical cam. The control apparatus has one data table representing a characteristic of a mechanical cam and utilizes a data interpolation and the first derivative of a cam position profile to determine position and velocity commands to drive a servo motor which performs motion equivalent to a mechanical cam. Alternatively, the control apparatus uses the first cam specific data table to determine the position, velocity and torque/current command to drive a servo motor. The apparatus may additionally use a second data table representing varying cam load to obtain a more accurate torque/current command correction.

Abstract: A calibration method enables a visual sensor attached to a robot to be calibrated easily, quickly, and accurately without using a mechanism for accurately setting a calibration jig or a wide jig setting space. First calibration pattern data, which includes the coordinate values of dots composing a dot pattern formed on a pattern plate (3) mounted on the distal end of an arm of a first robot (1), in a common coordinate system is entered in a visual sensor control device (20) by means of a first robot control device (10), and pattern plate image data is delivered from a camera (6), which is mounted on the distal end of an arm of a second robot (4), to the visual sensor control device (20).

Abstract: In a position control system, the positional deviation between the position of the control point of the controlled object and the target position is corrected in accordance with the change of the relative positional relationship between mechanically related control axes. The control axes include a main shaft stand and a main shaft. The main shaft stand is supported by a column so that it can move in a vertical direction and is driven by the rotation of a screw shaft. The main shaft is provided on the main shaft stand so that the main shaft stand can move in a horizontal direction. The positional deviation of the main shaft from the target position in the vertical direction is calculated in accordance with the horizontal position of the main shaft with respect to the main shaft stand at the time of the position control. The position of the main shaft from the target position in the vertical direction is corrected based on the positional deviation.

Abstract: The proposal is for a process and device making it possible to determine the condition of one or more machines (3) at several measuring points by means of a measuring head (MK) with measurement transducers (MW) which can be releasably fitted there and to supply to a computer the relevant measurement signal together with the characteristic data therefore obtained at the measuring point concerned. The invention lies in the special nature of the obtaining of the characteristic data.

Abstract: The invention pertains to a process for the two-dimensional determination of a work-area contour for collision monitoring of numerically controlled lathes. Disclosed is a process for the two-dimensional determination of a work-area contour wherein the work-area contour for collision monitoring can be determined at a reasonable cost in computer power: first a safe zone is defined in the form of a segment contour. Defined also is a segment contour that describes the contours of the tool and tool fixtures. Following that, the contour vertices both of the safe zone and of the tool segment contour are defined and stored as coordinate values. The contour vertices thus derived for the safe zone and tool segment contour are overlaid in pairs and for each overlay the coordinate values of a reference point are calculated. From the coordinate values of the segment contour those coordinate values are chosen which when properly combined yield the work-area contour.

Abstract: A multifunction mechaposition expanding controlling apparatus and method thereof are provided which can expand and control the mechaposition according to the number of the function as many as the desired numbers by rotating, above 360.degree., having the program switch of a rotary type of the multifunction electronic machineries having a deck. The apparatus comprises a microcomputer, a capstan motor and a loading motor, a program switch of a rotary type, a deck and a motor driving portion.

Abstract: A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.

Abstract: Electronic components such as chips are attracted to the tip ends of nozzles under suction, and mounted on printed-circuit boards when the vacuum condition in the nozzles is broken. The time for breaking the vacuum condition in the nozzles is adjusted by a variable time adjusting unit based on angular displacement information of a cam which vertically moves the nozzles depending on the selected mounting cycle. Even when a different mounting cycle is selected, time delays are varied to adjust the time for breaking the vacuum condition in the nozzles for thereby-mounting electronic components accurately and stably on printed-circuit boards.

Abstract: A numerical control apparatus which reduces a cycle time by executing the movement command of a next block without temporarily stopping the movement of a workpiece even if a skip signal is input. Upon receiving the skip signal SS output from a sensing device, a skip signal sensing device determines the present position of the workpiece, stores the position in a memory device and outputs a skip completion signal AS. Then, an acceleration/deceleration distribution device carries out pulse interpolation of a present block and outputs a distribution completion signal ES on the completion of the movement. Further, a preprocessing distribution device, having received the skip completion signal AS, determines an amount of movement of a next block from the present position of the workpiece and preprocesses the next block of the machining program.

Abstract: A non-contact profile control method capable of being effectively applied to a model whose contour has an irregularity such as a step-like contour. A non-contact distance sensor generates a dark alarm signal when its measuring beam spot is formed out of its detection area on a model. In response to this dark alarm signal, the profile control is discontinued, and a tracer head, on which the distance sensor is mounted, is rotated until the dark alarm signal is turned off so that the distance sensor can recover its detecting function. Furthermore, an additional rotation is given to the distance sensor by a predetermined amount to stabilize the detecting function of the distance sensor. A work table is shifted with respect to the tracer head so that a clearance between the tracer head and a steep slope of the stepped portion can be adjusted to become closer to a predetermined value, and the profile control is resumed.

Abstract: The purpose of the invention is to carry out the most appropriate attitude control of non-contact distance detectors (5a, b) onto the tracer model (6) surface and provide a digitizing control unit with high accuracy. A non-contact distance detecting device (105) samples coordinates of a plurality of points from the model surface, and the coordinates are stored in a memory (101). A point selecting device (102) selects 3 points on the tracer model surface composing a triangle most similar to a regular triangle after selecting 3 arbitrary points of the stored coordinates. A vector determining device (103) determines the normal vector with reference to the coordinates of the 3 selected points. The attitude of the non-contact distance detecting device (105) is controlled by the attitude control device (104) using the normal vector.

Abstract: Movement of a tool is delayed for a specified time from the movement of a tracer head that probes a model and traces the same path so that a cutter does not attain a state of excessive overshoot at a corner of a workpiece. The tracer head is driven independent of the tool on all axes of a machine tool by submotors provided in conjunction with feed axes of the tool. Profiling command values are stored in the FIFO memory 41 and output to the axes of the machine tool after being delayed for the specified time. In an operating circuit 43, speed command values Vxs to submotors are calculated based on the profile command values. The tracer head probes the model in precedence to the tool in response to the speed command values Vxs.

Abstract: Disclosed is a digitizing method of sensing an amount of displacement of each axis applied to a stylus by a tracer head, profiling a model surface while controlling the stylus in such a manner that the amount of displacement is made equal to a reference amount of displacement, sequentially fetching positional data by a predetermined method, and outputting NC data, wherein a difference between the amount of displacement and the reference amount of displacement is monitored, and the difference is added to the positional data and a specific positional data obtained when the difference exceeds a predetermined value is output. Although the amount of displacement of each axis is controlled to be equal to the reference amount of displacement when a gently inclined configuration is profiled, at the moment when a corner is reached, a phenomenon that the stylus is spaced apart from a model arises so that the difference between the amount of displacement and the reference amount of displacement is increased.

Abstract: In a trace control method used for machining a workpiece by tracing a model with a tracer head, the path and speed of two axes (X- and Y-axes) are controlled by NC commands, but, three axes (X-, Y- and Z-axes) are controlled to carry out the tracing operation. An NC command speed (F) is changed by an override circuit (2b) so that the NC command speed coincides with the composite speed of the three axes controlled to carry out the tracing operation, and the resultant speed (Fd) is supplied to an interpolator (2a). The direction of movement along the X- and Y-axes is controlled by the NC command and the speed is affected by the tracing operation. Thus the trace control method can control movement as though all three axes are controlled by NC commands.

Abstract: A work holding device is intended for use in combination with a processing machine, such as an assembling apparatus, an industrial robot or a machine tool. The work holding device comprises a base plate (8), a slide base (9) supported for vertical movement on the base plate (8), a swivel head (10) supported for turning on the slide base (9), and a rotary table (11) supported on the swivel head for rotation about an axis perpendicular to the axis of turning of the swivel head. The slide base (9), the swivel head (10) and the rotary table (11) are controlled properly to set a work (12) held on the rotary table (11) in an optional position relative to the associated processing machine. The work holding device and the processing machine are controlled for synchronous operation by a single controller according to a control program.

Abstract: A tracing control system machines a workpiece to a desired contour corresponding to the surface of a model which is being traced. The tracing control system comprises a tracing control circuit, a digitizing circuit, and numerical circuits. The tracing control circuit controls a plurality of tracing axes to trace the surface of the model. The digitizing circuit is connected to the tracing control circuit through a bus, for reading the positions of the tracing axes as positional data from time to time and processing the positional data to prevent a cutter head from biting into the workpiece, thereby to generate NC data linearly approximate the surface of the model. The numerical control circuits are connected to the digitizing circuit through the bus, for positionally controlling as many machining axes as the number of the tracing axes on the NC data to machine the workpiece.

Abstract: A robot route interpolation method for interpolation a polygonal route of a robot which is defined by the predetermined three or more points, wherein the acceleration at the time when a first velocity on the above polygonal route before a turning point is changed into a second velocity on the above polygonal route after the turning point is obtained based on the above first and second velocities so that, based on the above first velocity and the above acceleration, the above robot is moved toward the turning point at an uniform velocity of the first velocity and is also moved at an uniform acceleration in the direction of the above acceleration.

Abstract: A noncontact tracing control system for tracing machining a workpiece through a tracing of the contour of a model without contact. Coordinate values of a plurality of points on the model surface are acquired from measured values obtained by a plurality of times of sampling from two noncontact distance detectors (5a, 5b) provided at a tracer head of a tracing machine (3). A noncontact tracing control system (1) selects three points forming a triangle closest to an equilateral triangle, from among these points. A normal vector is acquired using the coordinate values of the vertices of these three points and outputs a command (SC) for rotating the tracer head (4) in the direction of a projection of this normal vector onto the X-Y plane. This command (SC) passes a D/A converter (17c), is amplified at an amplifier (18c), drives a motor (32c) and rotates the tracer head (4).

Abstract: A non-contact tracing control apparatus is disclosed which traces the surface of a model by using at least two optical distance detectors for detecting the distances therefrom to the model. When a first light corresponding to a first of the optical distance detectors is detecting a distance, a second light of another, second optical distance detector is either dimmed or shut off. Interference between more than one light reflected from the model and errors from, i.e., the first light reflected from the model incident on a second position sensor of the second optical distance detector can be avoided. The distances to a plurality of measurement points thus can be detected without interference even though the measurement points on the surface of the model are relatively close to one another.

Abstract: A tracing control system machines a workpiece through tracing by repeating a plurality of tracing passes in a tracing direction which is constant to a pick feed while detecting amounts of displacement of respective axes applied to a stylus. A first abrupt change region (P1c) on a model (1) surface is detected using the amounts of displacement of the respective axes obtained in the previous tracing pass, and a first position (X1c, Y1c) of the first abrupt change region in the X-Y plane is stored. Similarly, a second abrupt change region (P2c) is detected and a second position (X2c, Y2c) in the X-Y plane is stored. The tracing speed is lowered in the next tracing pass in the section within the range of each predetermined distance (l1, l2) in front of and behind an intersection (X3p, Y3p) with an extended line passing through the first position (X1c, Y1c) and the second position (X2c, Y2c).

Abstract: A noncontact tracing control system for machining or digitizing a workpiece through tracing the shape of a model without a contact therewith. Coordinate values of each vertex of a micro quadrangle on a model surface (6) are obtained from measured values at the previous sampling and the present sampling from two noncontact distance detectors (5a, 5b), a normal direction is obtained using the coordinate values of three necessary vertexes thereof, and the rotation of two axes (B1, C1) of a tracer head (4) is controlled in this direction. Accordingly, optical measuring axes of the noncontact distance detectors are always at a right angle to the model surface, which enables a distance measuring with a high accuracy.

Abstract: A method of setting a tracing zone in a contour tracing in which a surface of a model is traced by a contour tracing to thereby machine a workpiece. The contour tracing zone is set by a plurality of straight lines forming a polygonal shape (43, 44, 45), and when a stylus (5) reaches the straight lines forming a polygonal shape line (43, 44), pick feed is carried out to thus machine the workpiece by a contour machining. Because a tracing zone in the contour tracing is set by a plurality of straight lines forming a polygonal shape (43, 44, 45), the necessary contour tracing zones can be precisely set and therefore, unnecessary machining time is eliminated and life and so on of tools is prolonged.

Abstract: A rotating body tracing control apparatus which performs a tracing while rotating a model and a workpiece. A plurality of point coordinates (P1 or P10) are set on the outer peripheral surface of the model (6), which points depend on a position of the central axis of the rotation and the angle of the rotating axis of the rotation, and a tracing is executed by using a line connecting the individual points (P1 to P5, P6 to P10) as a potential line. Therefore, even when tracing a model, such as a groove of a cylindrical cam having a shape which varies along the central axis of a rotating body, only the groove region can be set around the potential line, and thus the tracing time can be shortened and the groove alone can be treated with a high accuracy.

Abstract: A tracing control system for machining a workpiece through tracing by calculating speed command values of respective axes, using change amounts detected by a tracer head, and moving a cutter relative to the workpiece through control of the speed of the respective axes in accordance with the speed command values. The system is provided with calculating means for calculating predetermined values in proportion to amounts of change in the speed command values of the respective axes, and a U-axis motor and a W-axis motor for moving only a model in parallel with the above respective axes by amounts corresponding to the respective predetermined values. A sub-table, on which only the model is placed is provided on a main table of a tracing machine tool, is moved in the same direction as the direction of movement of the main table, by an amount proportional to the amounts of change in the speed command values, for example, the amounts of delay in the reactions of the servo systems.

Abstract: An apparatus for mounting a cutting torch to a shape cutting machine is disclosed, and which incorporates a control system for signaling the machine in the event the torch contacts an obstruction during either vertical or lateral movement of the torch by the machine. The control system includes a pair of plates mounted to the torch so that the plates are displaced relative to each other when the torch contacts an obstruction, and a number of gas release valves are mounted to the plates and which are connected to a gas line so that a signal is generated upon a relative displacement of the plates. The signal is directed to the control logic of the shape cutting machine so that it may take corrective action.

Abstract: A multifunction mechaposition expanding controlling apparatus and method thereof are provided which can expand and control the mechaposition according to the number of the function as many as the desired numbers by rotating, above 360.degree., having the program switch of a rotary type of the multifunction electronic machineries having a deck.The apparatus comprises a microcomputer, a capstan motor and a loading motor, a program switch of a rotary type, a deck and a motor driving portion.

Abstract: A spindle motor control method capable of high-accuracy contour machining uses a vector control processor executing a speed loop process to obtain a torque command (Tc). Vector control is performed (S4, S7) in accordance with a magnetic flux command (.PHI.c) set at a predetermined fixed value (CF.PHI.) when a spindle motor is being driven in a contour control mode. This prevents irregularity in motor speed and motor vibration attributable to a delay of the actual magnetic flux of the spindle motor behind the magnetic flux command, thus enabling high-accuracy contour machining. In a normal speed control mode or an orientation mode for tool replacement, the vector control is effected (S4 to S6, S8) in accordance with the magnetic flux command (.PHI.c), which is obtained on the basis of the torque command (Tc), its maximum value (Tcmax), maximum magnetic flux command (.PHI.cmax) set in dependence on the rotating speed of the motor, and minimum magnetic flux (NR.PHI.cmin, OR.PHI.min).

Abstract: A non-contact tracer control device for carrying out a profile machining on a workpiece while tracing the profile of a model in a non-contact fashion. Two non-contact distance detectors (5a, 5b) are slantingly mounted to a tracer head 4) controlled through a rotary axis, and measurement values obtained by the two non-contact distance detectors (5a, 5b) are sampled at predetermined sampling intervals. Based on the measurement values obtained at previous and current sampling times, coordinates of the four vertexes of a very small rectangle on the surface of a model (6) are obtained, and a normal vector is obtained by using the coordinates of three required vertexes out of the four vertexes. The tracer head (4) is rotated in the direction of a projected vector obtained by projecting the normal vector onto an X-Y plane.

Abstract: A digitizing method for digitizing model surface data by tracing a model (MDL) with a stylus (STL) is described. At the time of digitizing, a time (T) required for predetermined conditions to be satisfied and stylus traveling distance (.DELTA.L) during this time are monitored, tracing velocity (F) is obtained based on this time and traveling distance, and the tracing velocity is output along with data indicative of the model surface profile.

Abstract: A grinder robot having a grinder can be operated by both of a force control and a position control to grind a workpiece surface quickly and acccurately. When the grinder has not reached a target grinding point position to finish grindings, force loop drive control means are selected to drive the grinder in order to grind a work by a force control. After a grinding point ground by the grinder has reached the target position, then, position drive control means are selected to drive the grinder by a position control in order to execute precise grindings. A grinding amount in every grinding in a force control area is relatively large and a grinding speed in every grinding in a position control area is relatively fast. As a result, a workpiece can be ground quickly and accurately by the grinder robot.

Abstract: A tracing control system for machining a workpiece through tracing by calculating speed commands of respective axes, using change amounts detected by a tracer head, and by moving a cutter relative to the workpiece through a control of the speed of the respective axes in accordance with the speed commands. First delay speed commands are obtained from the speed commands (Vx, Vz) at delay circuits (14a, 14c), respectively, and second delay speed commands are obtained at second delay circuits (14b, 14d), respectively, the differences between the first delay speed commands and the above second delay speed commands are calculated, and an X-axis main motor and a Z-axis main motor are driven in accordance with the first delay speed commands, and an X-axis sub-motor and a Z-axis sub-motor are driven in accordance with the calculated differences, thereby move the tracer head.