Abstract: A method is provided for controlling a braking device which controls a braking force of towed vehicles in a combination vehicle which includes a towing vehicle and a plurality of towed vehicles towed by the towing vehicle, and in which the towing vehicle and the towed vehicle are coupled by a coupler and the towed vehicles are coupled by couplers. In the method for controlling the braking device, after the towed vehicle that is located on a rearmost side is made not to move, imparting a braking force to the plurality of towed vehicles towed by the towing vehicle starting in order from the towed vehicle located on a rear side.

Abstract: A method is provided for controlling a braking device which controls a braking force of towed vehicles in a combination vehicle which includes a towing vehicle and a plurality of towed vehicles towed by the towing vehicle, and in which the towing vehicle and the towed vehicle are coupled by a coupler and the towed vehicles are coupled by couplers. In the method for controlling the braking device, after the towed vehicle that is located on a rearmost side is made not to move, imparting a braking force to the plurality of towed vehicles towed by the towing vehicle starting in order from the towed vehicle located on a rear side.

Abstract: A laser welding apparatus and method reproduces a welding state substantially identical to an actual operation of a robot at a manufacturing site even when an operating speed of the robot is changed. When a moving speed of the robot is, for example, 50% of an override ratio, a welding point speed, which is a resultant speed of a focus moving speed of the laser beam by movement of the robot having a scanner head and the focus moving speed of the laser beam by rotation of the laser scanning mirror, becomes identical to that when an override ratio is 100%. This is achieved by increasing a rotating speed of a laser scanning mirror within the scanner head.

Abstract: A laser welding method basically includes providing a robot that is moveably in accordance with predetermined movement data, and controlling the controlling a laser beam emitting section of the robot to emit a laser beam onto a predetermined irradiation position of a workpiece to conduct welding. The laser welding method further includes: measuring a current movement position of the robot with respect to a movement position specified in the predetermined movement data; operating of the robot to change the current movement position of the robot to a prescribed position based on the predetermined movement data; and adjusting a laser emission direction by controlling an emission changing section of the laser beam emitting section based on the current movement position of the robot and the predetermined movement data such that a laser beam is emitted from the laser beam emitting section and strikes the predetermined irradiation position of the workpiece.

Abstract: A laser welding system includes a robot control unit that acquires movement amount measurement values from encoders provided on axes of the robot and calculates the current position of a laser processing head based on the measurement values. Based on the calculated current position of the laser processing head, the robot control unit calculates a laser beam emission direction specifying the direction in which the laser beam should be aimed in order to strike a predetermined laser irradiation position. The robot control unit sends a command indicative of the laser beam emission direction to a processing head control unit which changes the direction of a reflecting mirror provided inside the laser processing head such that the laser beam is emitted in the specified direction.

Abstract: A laser welding apparatus and method reproduces a welding state substantially identical to an actual operation of a robot at a manufacturing site even when an operating speed of the robot is changed. When a moving speed of the robot is, for example, 50% of an override ratio, a welding point speed, which is a resultant speed of a focus moving speed of the laser beam by movement of the robot having a scanner head and the focus moving speed of the laser beam by rotation of the laser scanning mirror, becomes identical to that when an override ratio is 100%. This is achieved by increasing a rotating speed of a laser scanning mirror within the scanner head.

Abstract: A laser welding system includes a robot control unit that acquires movement amount measurement values from encoders provided on axes of the robot and calculates the current position of a laser processing head based on the measurement values. Based on the calculated current position of the laser processing head, the robot control unit calculates a laser beam emission direction specifying the direction in which the laser beam should be aimed in order to strike a predetermined laser irradiation position. The robot control unit sends a command indicative of the laser beam emission direction to a processing head control unit which changes the direction of a reflecting mirror provided inside the laser processing head such that the laser beam is emitted in the specified direction.