Abstract: A process for decorating a timepiece component, wherein it comprises the following steps: deep engraving (E10) of a surface to be decorated of the timepiece component with a femtosecond laser; and surface structuring (E20) of said surface to be decorated of the timepiece component, these two decorations being at least partially superposed on each other.

Abstract: A system for producing components by hot stamping includes a laser cutting station for cutting a plate from a supplied steel-sheet material. The plate has at least one of a predetermined edge-contour and a predetermined cut-out portion for forming a shape of the component. The plate is stored in a storage station, and is subsequently transferred to a furnace station for heating the plate to a predetermined deformation temperature. A press having a hot stamping tool forms the plate into the shape of the component. The system also includes a measuring station disposed downstream of the press for obtaining measurement data relating to the shape of the component that is formed from the plate. The measurement data obtained using the measuring station is provided to a control module of the laser cutting station via a feedback loop.

Abstract: A welding mode determination device that determines a welding mode when laser beam welding is performed includes an obtaining unit that obtains an image in an infrared wavelength region and an image in a short wavelength region of visible light from a laser irradiation area and its vicinity. An extraction unit extracts a light emitting image from the image in the infrared wavelength region and a light emitting image from the image in the short wavelength region of visible light. A determination unit compares the light emitting image of the image in the infrared wavelength region and the light emitting image of the image in the short wavelength region of visible light and determines the welding mode when the laser beam welding is performed based on a comparison result.

Abstract: A laser marking method and system, and laser marked object are disclosed. The method includes directing a pulsed laser beam towards an object such that an interface between an anodized layer and non-anodized substrate is in a mark zone of the pulsed laser beam, and scanning the pulsed laser beam across the object in a predetermined pattern to create a mark having an L value of less than 35 and a surface roughness that is substantially unchanged compared to adjacent unmarked areas. The system includes a fiber laser generating amplified pulses that are directed towards a galvo-scanner and focusing optic, while the object includes an anodized surface layer, an underlying non-anodized substrate, and a mark having an L value of less than 35 with substantially unchanged roughness features.

Abstract: The present invention relates to a method of welding an upper rail of a seat track for vehicle seat and adapter bracket for supporting a seat frame, the method comprising: contacting surface-to-surface a lower surface of a planar coupling surface part which constitutes a lower end part of the adapter bracket and extends in a longitudinal direction to a predetermined length onto an upper surface of a planar horizontal surface part which constitutes an upper end part of the upper rail and extends in the longitudinal direction; and joining the coupling surface part and the horizontal surface part by welding a lower surface of the horizontal surface part where the horizontal surface part is overlapped with the coupling surface part.

Abstract: Various embodiments include a plate-fin type heat exchanger constructed from foil-fin layers of corrugated fins sandwiched between two sheets of thin metal plate or foil. The corrugated fins are laser welded to the metal sheets, creating continuous joints along the length of fin crests formed in the sheets by the corrugated fins. Foil-fin layers in a stack are separated by spacers or header bars to create adjacent flow paths to finned chambers with walls defined by outside faces of adjacent bonded plate-fin layers. The foil plates and the corrugated fins may be of similar or dissimilar metals. Embodiments include methods of manufacturing such heat exchangers including applying a vacuum to an assembly of corrugated fins sandwiched between sheets of thin metal plate or foil, causing fin crests in the sheets, mapping locations of the fin crests, and using the map to perform high speed laser welding along the fin crests.

Abstract: A method for producing a three-dimensional work piece comprises the steps of applying a raw material powder onto a carrier (16), and selectively irradiating electromagnetic or particle radiation onto the raw material powder applied onto the carrier (16) by means of an irradiation unit (18) in order to produce the work piece from said raw material powder on the carrier (16) by a generative layer construction method, wherein the irradiation unit (18) comprises a radiation source (24) and a plurality of optical elements (30, 32, 34, 35). Operation of the irradiation unit (18) is controlled in dependence on an operating temperature dependent change of at least one optical property of at least one optical element (30, 32, 34, 35) of the irradiation unit (18).

Abstract: The present invention relates to a lithium secondary battery, and more specifically to a lithium secondary battery having a multi-directional lead-tab structure. The lithium secondary battery of the present invention includes: an electrode assembly which is formed by alternately laminating an electrode plate having a current collector, an active material, and a tab, and an isolation layer; a lead which is electrically connected to the tab; and a battery case, wherein the lead is divided into an anode lead and a cathode lead, and at least two or more anode leads and cathode leads are provided. The battery of the present invention uses the same lead-tab size as the prior art and is suitable for use with high current.

Abstract: A system 10 and method for laser cutting a plurality of parts, for example metal chassis components, using a plurality of laser cutting apparatuses is provided. The system 10 includes a plurality of the laser cutting apparatuses 14 disposed in a single enclosed cell 12 for simultaneously trimming multiple parts. The system 10 also includes at least one inner chamber 22 and at least one set of double doors 16, 18 for transferring the parts in and out of the enclosed cell 12 without any light escaping the cell 12. The parts are conveyed through the first door 16 to the inner chamber 22 while the second door 18 is closed, and through the second door 18 to the enclosed cell 12 while the first door 16 is closed. The system 10 also includes robots 24 continuously preloading and unloading the parts to maximize the laser trimming time.

Abstract: A method for providing a hole through a metal engine component having a base metal and thermal barrier coating layer forming a top surface of the component, the hole having a central axis extending at a hole angle of 20 degrees or less with respect to the top surface. The method includes laser trepanning through the thermal barrier coating layer without penetrating the base metal by moving a central axis of a pulse laser beam within a boundary of the hole, with the pulse laser beam having a first pulse energy level. The central axis of the pulse laser beam is then disposed within the boundary at the hole angle and shots of the pulse laser beam are applied to drill through the base metal and complete the hole, using a second pulse energy level different from the first pulse energy level.

Abstract: A thermal interface material and method of making the same includes growing a carbon nanotube array on a first substrate and brazing the distal ends of the carbon nanotube array to a second substrate using a braze material. In at least one embodiment, the braze material includes active elements. The method further includes performing the brazing process in an inert or vacuum atmosphere.

Abstract: A semiconductor package includes a first substrate, a second substrate, a composite solder ball and a first semiconductor component. The composite solder ball includes a core, an encapsulating layer and a barrier layer. The composite solder ball is disposed between the first substrate and the second substrate for electrically connecting the first substrate and the second substrate. The barrier layer is disposed between the core and the encapsulating layer. Wherein a melting point of the barrier layer is higher than a melting point of the core, the melting point of the core is higher than a melting point of the encapsulating layer. The first semiconductor component is disposed between the first substrate and the second substrate.

Abstract: A welding robot comprising an arm having a wrist part and upper arm part rotatably connected to each other, a welding torch attached to the arm at the wrist part side, a wire feed device attached to the arm at the upper arm side, a welding cable connected to both of the wire feed device and the welding torch for holding a welding wire, a control part for controlling operation of the arm so that the welding torch is moved over a welding path, and a monitoring part for monitoring if the amount of flexure of the welding cable caused by operation of the wrist tilt axis located between the wrist part and upper arm part while the welding torch is moved over the welding path under the control of the control part is within an allowable range.

Abstract: A machine for manufacturing parts that includes a base having therein one or more motors, an electrical power input port and a connector for connection to a general purpose programmable controller, and including a removable part holding and aligning (or presenting) fixture which can hold and rotate one or more parts to a specific location. The machine can include a tool for performing a process on a part. The machine can include a programmed general purpose controller that can control the operation of the machine during a manufacturing process.

Abstract: A method of additively repairing a combustor liner panel includes removing a combustor liner panel from a combustor, inspecting the combustor liner panel to identify a damaged portion, removing material from the combustor liner panel around the damaged portion to form a repair zone having a substantially flat platform, and adding repair material to the repair zone on a layer by layer basis using an additive repair process.

Abstract: A headrest stay is manufactured with a metal round pipe having a predetermined length and a predetermined thickness by performing a boring process on the metal round pipe by a cutting length of 5 mm or more from each of both distal ends of the metal round pipe to form a thin-walled portion that is thinner than the predetermined thickness; forming each of the distal ends of the metal round pipe into an curved chamfered shape having a radius of 5 mm or more by inserting each of the distal ends of the metal round pipe into a cylindrical hole; and bending the metal round pipe to have a shape of the headrest stay.

Abstract: Assemblies and methods are described. One assembly includes a first plate and a second plate. The assembly also includes an adjustable heat pipe positioned between the first plate and the second plate, the adjustable heat pipe being in thermal contact with the first plate and the second plate. In another aspect, a plurality of springs may be positioned between the first plate and the second plate. Other embodiments are described and claimed.

Abstract: A turbine part replacing apparatus for moving a combustor of an industrial gas turbine from and to a mounting port of the gas turbine is disclosed, the apparatus including a mobile frame with a moving mechanism for substantially horizontal translation motion on the ground, a vertically extendable arm attached to and extending from said mobile frame, and a carriage attached to the extendable arm such that the carriage may be moved vertically with respect to the mobile frame. Moreover, the turbine part replacing apparatus is adapted for receiving the combustor in the carriage and for vertically moving the received combustor by the extendable arm from and to the mounting port.

Abstract: A machining fixture contains: a base, a plurality of positioning blocks, and a workpiece holder. The base includes a first connecting face on which plural fixing slots are arranged, and each fixing slot has a threaded hole. Each positioning block includes an affix portion and a fixation portion having two symmetrical contacting faces and two flexible portions. Each positioning block further includes a dead aperture defined on a middle section thereof and passing through the affix portion from the fixation portion. A screw bolt is screwed with the threaded hole of each fixing slot via the dead aperture, and the affix portion of each positioning block enters into and contacts with each fixing slot of the base. The workpiece holder includes a second connecting face on which plural locating slots are arranged.

Abstract: A tool gripping arrangement for loading an elongate tool having a lengthwise axis into a collet. The tool gripping arrangement includes a tool clamp comprising a pair of tool clamp grippers for clamping the tool along a clamping axis. The tool gripping arrangement further includes a mounting arrangement for mounting the gripping arrangement to a robot arm, the tool clamp being mounted for free rotation relative to the mounting arrangement.

Abstract: A machine tool facility includes the following: machine tools; a first pallet stocker in which a plurality of pallets are arranged in parallel with a predetermined space therebetween; a second pallet stocker in which a plurality of pallets are arranged in parallel with a predetermined space therebetween, and which is disposed in parallel with the first pallet stocker; a conveyance car that conveys a pallet in a direction parallel to the row of the pallets of the first pallet stocker; a first transfer device for transferring the pallet between the first pallet stocker and the conveyance car; and a second transfer device for transferring, by horizontal movement, the pallet between the first pallet stocker and the second pallet stocker.

Abstract: A device is arranged to be able to provide openings in a body. The device comprises a cutting head having a front and a rear. The cutting head is provided with a cutting device; a power transmission body arranged to be able to transmit power from a driving means to the cutting device; a drive unit holder, wherein the drive unit holder is adapted to be able to be arranged at a distance (A3) from the rear of the cutting head; at least one connecting body having a first and a second end portion, wherein the connecting body connects the cutting head to the drive unit holder; and a support arranged to be able to rotatably hold the device on a body.

Abstract: A sharpening device for sharpening and grinding mower blades. The sharpening device includes a roller table and a plurality of mower blade mounting platforms that slide back and forth atop a base. The mower blade mounting platforms include an electromagnet that secures a mower blade to a support surface and guides for directing the position of the secured mower blade. The sharpening device further includes a plurality of sharpening members, such as grindstones, that engage with the mower blades secured to the mower blade mounting platforms. Each mower blade mounting platform includes adjustment mechanisms that allow a user to alter the lateral position of the blade and the sharpening angle of the blade. A first and second motor causes the mower blade mounting platforms to reciprocate and the sharpening members to rotate.

Abstract: A chemical mechanical polishing pad is provided having a polishing layer; an endpoint detection window; subpad; and, a stack adhesive; wherein the subpad includes plurality of apertures in optical communication with the endpoint detection window; and, wherein the polishing surface of the polishing layer is adapted for polishing of a substrate.

Abstract: A structured abrasive article is contacted by a laser beam to create microporous surface regions over a portion of the abrading surface to make a coated abrasive article that includes a backing and an abrasive layer comprising abrasive composites secured to the backing.

Abstract: CMP pad dressers having leveled tips and associated methods are provided. In one aspect, for example, a method can include pressing a CMP pad dresser against a CMP pad, where the dresser includes a monolayer of a plurality of superabrasive particles protruding from a matrix layer. The difference in protrusion distance between the highest protruding tip and the second highest protruding tip of the monolayer of superabrasive particles is less than or equal to about 10 microns and the difference in protrusion distance between the highest 10 protruding tips of the monolayer of superabrasive particles are within about 20 microns or less. The method can further include rotating the dresser against the CMP pad such that asperities are cut into the CMP pad having a maximum cutting depth of about 60 microns.

Abstract: A grinding wheel includes a plurality of abrasive grains and a binder holding the abrasive grains together. The binder contains an additive that has a higher extinction coefficient than the abrasive grains at a wavelength in a predetermined frequency band. The binder is processed with laser light of a wavelength in the predetermined frequency band.

Abstract: Embodiments of the invention relate to polycrystalline diamond compacts (“PDCs”) comprising a polycrystalline diamond (“PCD”) table including a thermally-stable region having at least one low-carbon-solubility material disposed interstitially between bonded diamond grains thereof, and methods of fabricating such PDCs. In an embodiment, a PDC includes a substrate, and a PCD table bonded to the substrate. The PCD table includes a plurality of diamond grains exhibiting diamond-to-diamond bonding therebetween and defining a plurality of interstitial regions. The PCD table further includes at least one low-carbon-solubility material disposed in at least a portion of the plurality of interstitial regions. The at least one low-carbon-solubility material exhibits a melting temperature of about 1300° C. or less and a bulk modulus at 20° C. of less than about 150 GPa.

Abstract: An abrasive article including a substrate made of a wire, abrasive particles affixed to the substrate, the abrasive particles having a first coating layer overlying the abrasive particles, and a second coating layer different than the first coating layer overlying the first coating layer. The abrasive article further including a bonding layer overlying the substrate and abrasive particles.

Abstract: Embodiments of the invention relate to methods of fabricating polycrystalline diamond compacts (“PDCs”) and applications for such PDCs. In an embodiment, a method of fabricating a PDC includes providing a polycrystalline diamond (“PCD”) table in which a catalyst is disposed throughout, leaching the PCD table with a gaseous leaching agent to remove catalyst from the PCD table and bonding the at least partially leached PCD table to a substrate to form a PDC.

Abstract: A manufacturing method of the honeycomb structure uses a grinding wheel having a coarse abrasive grain layer and a pair of fine abrasive grain layers sintered and secured to be formed on both sides of the coarse abrasive grain layer, and has a grinding wheel rotating step of rotating the pair of grinding wheels disposed via a predetermined space in a state where fine abrasive grain layers of the grinding wheels face each other; a conveying step of conveying a honeycomb formed body formed by extrusion and the like; an end face grinding step of grinding end faces of the conveyed honeycomb formed body with the rotating grinding wheels; and a firing step of firing the honeycomb formed body.

Abstract: A grinding wheel used for grinding of a work piece is provided. The grinding wheel includes a circular disc-shaped base having a fixed end surface in contact with a mount of grinding apparatus and a free end surface on the opposite side to the fixed end surface, and plural abrasive stone chips arranged in a ring manner on the free end surface of the base. The abrasive stone chips are each formed into a block shape having a surface in which two or more kinds of plate-shaped abrasive stone members containing abrasive grains and a binder are exposed to the outside by overlapping the two or more kinds of abrasive stone members. The surfaces exposed to the outside in the abrasive stone chips serve as grinding processing surfaces that get contact with the work piece.

Abstract: An impact socket includes a socket body having a first end and an opposing second end, the socket body defining a first fastener driving structure at the second end. The impact socket includes a collar assembly carried by the socket body, the collar assembly defining a second fastener driving structure. The collar assembly includes a support sleeve and a base sleeve that define a chamber configured to constrain movement of a securing mechanism relative to the socket body, the securing mechanism configured to selectively secure the collar assembly to the socket body when the collar assembly is disposed in at least one of a first position relative to the second end of socket body and a second position relative to the second end of socket body.

Abstract: A rotary impact tool includes an anvil that receives rotational impact force from a hammer of an impact mechanism. A driver cover covers the impact mechanism. A bearing is press fitted into and fixed to the driver cover to hold the anvil. A bearing separation restricting component restricts separation of the bearing from the driver cover. The bearing separation restricting component is hidden inside the driver cover and is invisible from an outer surface of the driver cover.

Abstract: A magnetic socket adapter is configured to be removably coupled to a plurality of differently sized socket drivers. The adapter includes a rear shank configured to be coupled to a tool holder or chuck of a power or hand tool and a front shaft coupled to the shank and defining a longitudinal axis. The front shaft has a head with a polygonal outer surface configured to be received in a corresponding polygonal shaped opening in each of the plurality of socket drivers. A magnet is coupled to a front end of the front shaft. A retaining projection is coupled to the head to removably retain each of the plurality of socket drivers on the adapter. An outer conical centering surface is disposed on the front shaft and configured to abut a corresponding internal conical centering surface in the polygonal opening in each of the plurality of socket drivers to center the socket drivers on the front shaft.

Abstract: A panel fastener tool is disclosed that includes a first arm pivotally connected to a second arm. Each of the first arm and second arm include a camming portion, a camming surface, a terminal projection projecting substantially inwardly, and an indent between the camming portion and the terminal projection. Upon pivoting the first arm and the second arm towards each other, the camming surfaces each engage a top portion of an inner member of a fastener inserted into a hole in a workpiece. The camming surfaces lift the inner member out of an insertable member of the fastener, and the terminal projections capture a head portion of the insertable member within the indents. When an upward force is applied, the terminal projections lift the insertable member from the hole.

Abstract: Embodiments of the Hose Tool are comprised of head assembly and handle assembly. The head assembly is comprised of a hose tab guide, a plurality of hose dogs, a plunger bar rack, and a hose tab guide sleeve. The handle assembly is comprised of a chassis, plunger bar rack, two handle pinons, a spring, two hinged handles, two bolts, a pivot pin, a guide bolt, two latch pins, and latch pin spring. The two hinged handles are attached to the two handle pinons via two bolts; held open by two latch pins being pressed into slot in two handles pinons by a latch pin spring. Depressing the two latch pins allows two hinged handles to swing alongside hose tool for storage. The two halves of two handle pinons are separated, timed and engaged within the plunger bar rack; then inserted into chassis and secured with pivot pin.

Abstract: An insertion tool for installation of a retainer ring within a groove is provided. The insertion tool includes a generally horizontal frame member. The insertion tool also includes a handle portion extending upwards from the horizontal frame member. The insertion tool further includes an installation element extending downwards from the horizontal frame member and pivotally attached thereto. The installation element is configured to engage within the retainer ring. Further, the installation element is configured to apply an insertion force on the retainer ring upon rotation of the handle portion about a central axis of the groove to force the retainer ring into the groove. The insertion force acts in a direction generally parallel to the central axis of the groove.

Abstract: A palm ratchet tool includes an upper cover, a lower cover, a ratchet, a ratchet switch, and sockets. The upper cover is provided with through holes. The sockets are disposed in the through holes, respectively. The ratchet switch is disposed between the upper and lower covers. The ratchet switch includes a left detent, a right detent, and a pendular rod connected with the left and right detents. The lower cover is connected with the bottoms of the sockets. The top end of the pendular rod passes through the lower surface of the lower cover. The ratchet is disposed on the outer rims of the upper and lower covers. The inner surface of the ratchet is provided with a ratchet wheel. The ratchet switch is disposed close to the ratchet. The left detent or the right detent engages with the ratchet wheel under the action of the pendular rod.

Abstract: The disclosure is directed at a multiple bit hand tool which includes a handle portion having a plurality of slats each with grooves on either side, and a body portion including a plurality of flanges each having protrusions, wherein when the handle portion and the body portion are connected by the protrusions and the grooves mate to provide a friction fit handle. The multiple bit hand tool also includes a chuck portion with an improved locking collar for locking the tool bit in place when it is in an extended position. The locking collar includes a latch portion with a set of latch arms each having a bit end cap contact and a release cam contact for abutting the tool bit and an associated actuation mechanism.

Abstract: A hand drill lifting and actuating apparatus includes a post has a bottom end and a top end. The post is telescopic and includes an upper section and a lower section. A mount is attached to the top end and releasably secures a drill to the post. An actuator is mounted on the post and engages a switch on the drill to turn the drill on. A fulcrum is attached to the lower section of the post. A handle has a first end and a second end. The first end is pivotally coupled to the upper section. The handle is pivotally coupled to the fulcrum between the first and second ends such that the upper section is lifted upwardly when the second end is urged downwardly. The mount is thereby urged upwardly when the second end is pulled downwardly.

Abstract: A work station includes tool containing or supporting features as well as workbench features, such as a work surface and work back. The work station is preferably mobile, permitting it to be moved or transported. In addition, the work station is preferably collapsible and securable. In one configuration, the work station has a work bench portion which can be raised or lowered relative to a base portion, wherein in the lowered position, the base portion is positioned in an interior space of the work bench portion.

Abstract: A cable tie organizer, which may be free standing or secured to a support, having two or more compartments, each compartment configured to accommodate a different length of cable ties. A foamed elongated member holder having two ends and a bore extending between the two ends, the bore being sized for frictionally holding elongated members therein. The elongated members may include cable tie holders.

Abstract: The design has a top section using a pillow type head rest and a specially designed body support deck. This is supported by a body support beam attached to a pivot pin on the base section. The adjustable strut is attached to the base using two telescoping tubes with a lock pin locater. (the seat with attachments uses the same general design) The base uses four castors with a connecting support beam.

Abstract: An apparatus having a drive unit having a first drive axis rotatable about a first axis of rotation and a second drive axis rotatable about a second axis of rotation, the second drive axis being coaxial with and partially within the first drive axis and axially rotatable within the first drive axis. A robot arm has an upper arm connected to the drive unit at the first drive axis, a forearm coupled to the upper arm, the forearm being coupled to the upper arm at a first rotary joint and rotatable about the first rotary joint, the first rotary joint being actuatable by a first band arrangement coupled to the second drive axis, and an end effector coupled to the forearm, the end effector being coupled to the forearm at a second rotary joint and rotatable about the second rotary joint, the second rotary joint being actuatable by a second band arrangement coupled to the first rotary joint. The second band arrangement is configured to provide a variable transmission ratio.

Abstract: A conveying robot is provided which can have a reduced maximum height and which can convey an object fast and stably. A conveying robot has at least one of a characteristic that a first driven link that configures the conveying robot is formed to have a bent shape that protrudes toward a second driven link with respect to a straight line that connects a first intermediate rotation support and a first tip-side rotation support, and a characteristic that the second driven link is formed to have a bent shape that protrudes toward the first driven link with respect to a straight line that connects a second intermediate rotation support and a second tip-side rotation support.

Abstract: A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.

Abstract: A processing machine system includes a processing machine having a machining table, a robot that removes chips produced from processing of the work, a chip collecting hand attached to a distal end portion of the robot to collect the chips, and a robot control unit. The robot control unit acquires a deposition amount of the chips deposited on the machining table, decides whether it is necessary to collect the chips on the basis of the acquired deposition amount. When the chip collection is necessary, the robot control unit operates the robot so as to collect the chips with the chip collecting hand, after the processing is finished.

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.