Abstract: The present invention is directed to a machine with a position feedback system and a method for use thereof. The machine includes at least one movable element mounted for movement on a path and at least one programmable controller. The machine further includes at least two absolute or magnetostrictive sensors or the machine includes an absolute sensor and a non-absolute sensor. The programmable controller uses positional information from the sensors to determine the position of the movable elements on the path and control the movable elements. The method includes determining a known position for the movable elements, linking at least two magnetostrictive sensors into one virtual sensor, and/or performing commutation alignment for the movable elements. Determining the position and commutation alignment can occur when the movable elements are stationary or moving.

Abstract: Rapid prototyping and manufacturing (e.g. stereolithography) methods and apparatus are disclosed that form objects with enhanced accuracy and small feature retention. Techniques for offsetting cross-sectional boundary data to at least partially accommodate for solidification width induced in a medium by a beam of radiation are provided. One technique uses repeated small offsets to yield an effective offset of a desired amount. A second technique uses displacement vectors to determine where and to what extent to offset the boundary segments. The offset amount for each vertex is determined based on a combination of the (1) the vertex angle, and (2) a predefined variable offset criteria which is different for at least two predefined ranges of angles. A third technique converts a single boundary segments into a plurality of offset boundary segments when the single boundary segment can not undergo the full desired offset without violating another offsetting rule.

Abstract: Multi-Axes Tool Compensation expands the tool compensation methods available to the CNC machine operator from the 2D world to 3D and 5 axis directly inside the CNC Controller without involving the CNC programmer to re-define tool locations and offsets defined in the G code program. The CNC machine operator can insert and override any of the cutting methods or scenarios originally pre-defined in the G code program to add 3D and 5-axis tool offsets and tool shape characteristics. These algorithms also provide for automatic tool gouge avoidance protection. Tools are also re-located to safe positions when necessary. Multi-Axes Tool Compensation technology provides for 3D and 5-axis tool definitions and tools offsets accessible to the CNC machine operator.

Abstract: A machining program is read in and interpreted and a determination is made as to whether the amount of movement called for by a block of commands is larger or smaller than a minimum amount of movement that is established by a feed speed and a one sampling period of a numerical control apparatus. If the amount of movement called for is greater than the minimum amount of movement, feed control is performed in accordance with the current block. If the amount of movement called for by the current block of commands is smaller than the minimum movement amount, an immediate subsequent block of commands is concatenated with the current block, and this concatenation of command blocks is continued until a synthesized block calling for an amount of movement greater than the minimum amount of movement is obtained, this synthesized block then being used to perform feed control.

Abstract: A calibration system and method for a multi-toolhead machine. A calibration device is installed onto the machine. When a first toolhead is calibrated with respect to the calibration device, based upon the change in position between the first toolhead and a predetermined reference on the calibration device, all of the remaining toolheads are automatically calibrated. The system is set up by calibrating each toolhead with respect to the calibration device and determining an offset between the calibrated position of each toolhead and the calibration of the first toolhead.

Abstract: A numerically controlled system includes a tool path sample point setting unit for forming evaluation data by arranging, virtually, a tool on a given scheduled path locus to come precisely into contact with a processed surface of a processing object and by setting tool path sample points to evaluate a shape of the processed surface, a discontinuity portion extracting unit for extracting a discontinuity portion based on the evaluation data, and a tool position data forming unit including a command speed deciding portion for deciding a command speed at which the tool is moved based on the evaluation data and a tool position deciding portion for deciding the tool position based on the command speed and the shape of the worked surface such that the tool comes into contact with the worked surface, wherein setting of the tool path sample points, extraction of the discontinuity portion, and decision of the tool position are carried out in real time.

Abstract: A machining program preparation apparatus includes a machining region extracting unit (3) that extracts a machining region (300) based on a given three-dimensional part shape (100) and a given three-dimensional material shape (200), an envelope shape generating unit (4) that generates a three-dimensional envelope shape (400) that envelopes the given three-dimensional part shape (100) based on this part shape, a turning region extracting unit (5) that extracts a three-dimensional turning region (500) from the material shape (200) and the envelope shape (400), and a milling region extracting unit (6) that extracts a three-dimensional milling region (600) from the machining region (300) extracted by the machining region extracting unit (3) and the turning region (500) extracted by the turning region extracting unit (5).

Abstract: A numerical control device for synchronously controlling the movement of a plurality of axes of a machine by repeatedly controlling a cyclic motion. An axis of the machine is designed to stop at a predetermined position upon the occurrence of an emergency stop. To achieve this stop position, an amount of retraction is set up to a position where a tool of machine does not interfere with a work piece or other obstacles. When an emergency stop signal is entered during a binary operation, because of an occurrence of an abnormality, a movement control amount for each period, corresponding to a set amount of retraction, is added to the movement control amount for each period of the binary operation and the axis is thereby driven by the resultant modified movement control amount. The binary operation is stopped upon the reaching of the stop position, and the tool can be held at this retracted position, by the set amount of retraction.

Abstract: A gear machining controller capable of performing a gear machining of high precision. A gear machining tool and a workpiece are driven by a first motor and a second motor, respectively, to be synchronized with each other, to perform gear machining on the workpiece such as gear cutting and gear finishing. A position amending section is provided at least one of position control loops of servo systems for controlling position/velocity of the first and second motors. The position amendment section obtains amendment amounts based on position deviations and amends a position command of a present processing period by the amendment amount obtained at the processing period preceding by one cycle period of variation of a load torque. An error of synchronization of the first and second motors is reduced so that the gear machining of high precision is performed.

Abstract: A machine for performing machining operations on a work-piece is disclosed that includes a carriage with a robotic arm mounted thereon. The arm includes a movable head containing a tool for performing the machining operations on the work-piece. A laser position determination system is included for determining the actual spatial relationship position the carriage and the work-piece and providing a first signal representative thereof and further determining the spatial relationship of the head to the work-piece during actual machining operations on the work-piece and providing a second signal representative thereof. A computer having a computer program provides a third signal to the robotic arm for machining the work-piece based on a predetermined spatial relationship between the carriage and the work-piece and for receiving the first and second signals and adjusting the third signal based on the actual spatial relationship between the carriage and the work-piece and the head and the work-piece.

Abstract: A method of cutting planar material with a controlled cutting machine having a cutting tool with a tool tip includes performing a cutting test on various planar materials with the cutting machine under selected cutting conditions which produce deflection forces on the cutting tool due to the interaction of the cutting tool and materials so as to cause the tool tip to offset and move along deviated or offset cutting paths relative to desired cutting paths, and determining compensating offsets in order to align and coincide the actual cutting paths with the desired cutting paths A schedule of the compensating offsets to align and coincide the actual cutting paths with the desired cutting paths is established as determined by the cutting tests. The schedule is to be repeatedly used thereafter for cutting planar material having cutting conditions associated with the schedule.

Abstract: A profile data compensating method comprises a step of generating effective profile data by operating a machine tool under a non-load condition in accordance with theoretical profile data, a step of generating first error profile data representing error components of a control system, a step of generating first compensated profile data based upon the first error profile data, a step of generating measured profile data by measuring the shape of the workpiece machined in accordance with the first compensated profile data, a step of generating second error profile data representing error components of a mechanical system, and a step of generating second compensated profile data based upon the first and second error profile data.

Abstract: An analogue probe having a stylus with a spherical tip of radius (r) is calibrated using a sphere of known radius (R) mounted on a machine. The stylus tip is driven into the sphere from a plurality of directions (at least 9), each nominally normal to the sphere surface, until the stylus has deflected a predetermined amount. The machine movement is then reversed, and probe (a,b,c) deflection outputs are recorded simultaneously with machine (X,Y,Z) axis positions until the stylus tip leaves the surface. The readings are extrapolated to obtain the (X,Y,Z) readings when the probe radial deflection is zero. The value of (R+r) is determined from these readings along with the position of the sphere center giving a value with zero probe errors. Values of (R+r) are also determined using a pre-selected radial deflection for each of the directions, by converting probe (a,b,c) outputs at that deflection to incremental machine (X,Y,Z) axis values using a trial probe transformation matrix.

Abstract: A controlling apparatus for a robot of the type formed by a plurality of joint actuators and operating in accordance with a behavioral schedule comprises a behavior scheduling unit for setting a robot's behavioral schedule, an operation controller for implementing an operational pattern corresponding to the behavioral schedule as determined by the behavior scheduling unit by driving each joint actuator, a detector for detecting the state of operation implementation by the operation controller and a recording unit for recording a log including the behavioral schedule by the behavior scheduling unit and the state of operation implementation by the detector. A user issuing a command for the robot is authenticated and the contents of the command supplied from the user are recorded in combination with the behavior taken by the robot responsive to the command and the time point of implementation of the behavior.

Abstract: The present invention relates to an offset apparatus for an NC machine tool, that can achieve high accuracy machining by offsetting the amount of operation of a motion mechanism in accordance with the analysis result of the behavior of the NC machine tool. The offset apparatus 1 comprises: a model analyzing data base 12 in which three dimensional model data of the motion mechanism 2 and condition data for performance analysis are stored; a model analyzing section 13 which analyzes the performance of the motion mechanism 2; a data accumulating section 14 which stores analyzed performance analysis data; an offset amount computing section 15 which computes an offset amount to be applied to a commanded operation amount on the basis of the performance analysis data; and an offset executing section 17 which offsets the amount of operation of the motion mechanism 2 on the basis of the offset amount.

Abstract: A method for reducing computational expenditure required to compensate for temperature-related dimensional deviations in a machine tool is described. Temperature-related dimensional deviations are compensated for before the user input information existing in the workpiece-specific coordinate system is converted into the machine-specific coordinate system. As a result, the requisite coordinate transformation carried out with the aid of a mapping matrix does not have to be performed twice, once for user input information and again for compensation values. In addition, the compensation values for the temperature-dependent expansion are only calculated when a minimum value for the temperature variation is exceeded.

Abstract: The chuck 10, for positioning and holding a pipe at any rotational angle position around the axial center, is provided with the three dimensional linear processing machine. When the machining program PRO is composed, a plurality of the shape patterns KPT classified machining modes concerning pipes by machining shape is displayed on the display 23. Furthermore, dimensional data item concerning selected shape pattern is displayed on the display 23. Then, the machining program PRO is composed on the basis of the input code parameter CP and the selected shape pattern KPT. Besides, shift quantity TMz and TMy are measured when the pipe to be machined is installed on the chuck 10, and on the basis of this, the machining program PRO is amended and executed.

Abstract: A formal drawing for a machine part includes datum features that are used to construct a Datum Reference Frame (DRF) for the part. A Feature Control Frame (FCF) for each datum feature that is intended to eliminate roll about a fixed primary axis of the DRF includes a material location modifier which specifies whether the orientation or the location of the feature should be used to eliminate roll. The material location modifiers enable specification of Independent of Material Location (IML), at Basic Material Location (BML), at Maximum Material Location (MML) and at Least Material Location (LML), eliminate all ambiguity in the formal drawing, and enable a DRF to be constructed automatically using a computer. The material location modifiers further eliminate any possibility of misinterpretation of the formal drawing during all stages of manufacture and inspection of the part.

Abstract: The method is suitable for the micromachining of accurately aligned holes in the aerofoil surface of a component such as a jet engine turbine blade or vane which comprises a ground anchorage portion and a cast aerofoil portion. The method uses a micromachining apparatus which is pre-programmed to machine holes in the aerofoil surface when that surface is in a predefined reference position and orientation in the apparatus. Initially the component is mounted in the micromachining apparatus by means of its anchorage portion. At least one probe is then moved into contact with the surface of the cast aerofoil portion to derive the positions of selected points on that aerofoil portion. From the derived position data, angular and linear offset data may be calculated to define the deviation of that cast aerofoil portion from the reference position and orientation defined in the computer memory of the micromachining apparatus.

Abstract: A numerical controlling device and a tooling apparatus having thereof, in which performance required for the machining is greatly improved correspondingly to a degree of importance according to a type of the machining and thus high efficiency and high accuracy in the machining can be obtained, by referring a database based on a type of a specified cutting tool and workpiece, and of a machining mode including an operating path of a movement of the cutting tool and workpiece, and by selecting a control parameter which relates to an adequate operating speed and operating position in the entire operating path during machining and non-machining.

Abstract: The present invention discloses an apparatus and a method using a multi-purpose flexible CNC machine that is able to perform a variety of machining operations on all parts of a product. Specific operations include carving, boring, cutting, grooving, molding, shaping, routing, mortising, edge working, sawing, planing, squaring, sanding, drilling and dovetailing. The CNC control integrates machining instructions, operator instructions and sequence of operations into a coherent package.

Abstract: A method and apparatus for imaging an overlying conductive pattern over an underlying conductive pattern on a substrate, by determining deviations between the actual locations and the nominal locations of predetermined reference targets in the underlying conductive pattern on the substrate; and utilizing the determined deviations for modifying the scanning control data used for imaging the image data of the overlying conductive pattern in order to reduce misregistration thereof with respect to the underlying conductive pattern. Preferably, the reference targets are predetermined connection sites in the underlying conductive pattern to be precisely located with respect to connection sites in the overlying conductive pattern. The reference features may be assigned different weights according to their registration importance, and the deviations may be determined according to a threshold which varies with the weight assigned to the respective reference feature.

Abstract: PWM controlling means (4) for inputting PWM signals corresponding to PWM target values to electric power supplier (3) in order to servo-controlling DC motor (2) comprises synchronizing control part (41), PWM computing part (50), selecting part of PWM target value (45) and PWM commanding part (46). The synchronizing control part (41) instructs the commencement of the PWM computation, selection of PWM target value and PWM command allotted to some of the infinitesimal intervals obtained by dividing processing term, on which PWM signals regulating the electric power supplied to the motor (2) are allotted, into n equal parts, and terminates one cycle for a series of the process and/or computation predetermined within one processing term. PWM target values corresponding to plural control target values (DP0, DV0, DT0) are computed in parallel so that the servo-control of motor can be operated in quick response to the change of control mode.

Abstract: The present invention is an apparatus and method for automatically realigning an end effector of an automated equipment after an undesired contact of the end effector to prevent a crash of the end effector. The present invention includes a plurality of contact detectors, and each of the contact detectors is disposed at a respective location with respect to the end effector. In addition, each of the contact detectors generates a respective signal for indicating direction of force on the end effector that results from the undesired contact. Furthermore, the present invention includes an end effector controller that is coupled to the plurality of contact detectors and to the end effector. The end effector controller causes the end effector to move to a reset position after the undesired contact when any of the respective signals from the plurality of contact detectors is greater than a predetermined level.

Abstract: An adaptive motion controller for driving a servo motor. The adaptive motion controller has an amplifier including a voltage command which can be set at a voltage at which the amplifier will be operated, a frequency selector which can be set at a frequency at which the amplifier will be operated, a power supply having a current feedback, and a control for driving the servo motor in a test mode wherein the voltage command is set at a selected voltage, and the frequency selector is sequentially set with a series of different frequencies. The servo motor is operated at each frequency, and the frequency of the series of frequencies that has the lowest current feedback is determined and the frequency selector is set at that frequency when the amplifier is operated to drive the servo motor.

Abstract: A position detector detects the position of a detector section relative to a record medium having recorded thereon a periodic position signal. The detector section has two detectors that produce first and second detection signals that are polar converted and processed, based on the number of divisions in a quadrant of the periodic position signal.

Abstract: The position of a feed shaft is monitored, the mean moving speed and moving frequency of the feed shaft are measured with every unit time for position correction, and a correction amount &dgr;n is determined from the speed and frequency according to an approximation formula and updated (c7 and c8). A position correction amount for a commanded position is determined from this correction amount, and the commanded position is corrected by the position correction amount (c1 to c6). The position correction amount for the commanded position is determined from this correction amount, and the commanded position is corrected by this position correction amount. Since the correction amount is determined according to the approximation formula, thermal displacement correction can be effected at all times without requiring any sensor.

Abstract: A feedback compensating apparatus for adjusting the working condition of a working machine of a working system adapted to process working portions of successive workpieces under control of a machine controller, which determines the working condition from an extraneous signal. The apparatus is used with the controller and a measuring device for measuring the dimensions of the processed working portions of the workpieces, and includes a device for obtaining dimensional data based on outputs of the measuring device during and/or after a working operation of the machine on each workpiece. The dimensional data include a dimensional error of the processed working portions, and a variable indicative of a tendency of change in the dimensional error. The apparatus further includes a device for determining the extraneous signal based on the dimensional data, and applying the signal to the machine controller to adjust the working condition of the machine.

Abstract: The nominal configuration of a workpiece is stored in a multiaxis numerically controlled machine. The workpiece is probed in the machine to determine an offset from the nominal configuration. The workpiece is then shifted by the offset to correspond with the nominal configuration. The workpiece is then machined according to the nominal configuration.

Abstract: This invention relates to a control apparatus for numerical control in a cutting machine having a turret which can be rotated to arbitrary positions, and characterized by including means for obtaining turret axis data (&Dgr;X, &Dgr;Z) from reference offset values (X0, Z0) corresponding to a length from a cutting edge to a turret axis B, turret angle data &agr;, and cutting edge data (m, n), and moving the turret on the basis of these turret axis data (&Dgr;X, &Dgr;Z) to perform a cutting.

Abstract: A robot failure diagnosing system in which sound input by the user is interpreted/recognized by a command recognizing section in order to notify a request for a diagnosis to a self-diagnosis section. For example, the user can input a command which prompts a self-diagnosis operation in the form of a natural communication, such as by saying, “Perform a self-diagnosis operation,” and by asking, “How do you feel, robot?” With respect to this, the robot can indicate the self-diagnosis result in the form of a natural conversation, such as by saying, “I'm not feeling well,” “My leg hurts,” and “I'm hungry.” The robot failure diagnosing system performs a self-diagnosis of a failure or abnormality in a system, and feeds back the diagnosis result to the user.

Abstract: A method of diagnosing alignment of a photolithography tool. A broad band source test is provided. A disturbing sequence is run that is not a portion of the broad band source test. The broad band source test is performed and post disturb test data recorded. A result of the broad band source test is compared with a tolerance. If in the comparison, the result of the broad band source test is not within the tolerance, the photolithography tool is mechanically adjusted.

Abstract: The present invention preferably employs non-contact, small-displacement, capacitive sensors to determine Abbe errors due to the pitch, yaw, or roll of a near linear mechanical stage that are not indicated by an on-axis position indicator, such as a linear scale encoder or laser interferometer. The system is calibrated against a precise reference standard so the corrections depend only on sensing small changes in the sensor readings and not on absolute accuracy of the sensor readings. Although the present invention is preferred for use in split-axis positioning systems with inertially separated stages, the invention can be employed in typical split-axis or stacked stage systems to reduce their manufacturing costs.

Abstract: A feedback compensating apparatus for adjusting the working condition of a working machine of a working system adapted to process working portions of successive workpieces under control of a machine controller, which determines the working condition from an extraneous signal. The apparatus is used with the controller and a measuring device for measuring the dimensions of the processed working portions of the workpieces, and includes a device for obtaining dimensional data based on outputs of the measuring device during and/or after a working operation of the machine on each workpiece. The dimensional data include a dimensional error of the processed working portions, and a variable indicative of a tendency of change in the dimensional error. The apparatus further includes a device for determining the extraneous signal based on the dimensional data, and applying the signal to the machine controller to adjust the working condition of the machine.

Abstract: A method is described for grinding a composite workpiece to form a component having concentric and eccentric cylindrical regions.

Abstract: A positioner for use in a tooling apparatus, the positioner including a tool, at least one servo-motor for actuating said tool, a controller for controlling the servo-motor, nonvolatile memory in the controller, and a calibration stored in the nonvolatile memory, the calibration including compensation parameters for the build variance of the positioner.

Abstract: A device for analyzing NC program is provided with a machining method analyzing means (34) which extracts machining conditions for every machining work element by analyzing an actual NC machining program, and data base creating means (35). The device extracts necessary machining information from the actual NC machining program and allows the data bases (21, 22, 23 and 24) to reflect the information.

Abstract: A positioned sensing device measures and/or calculates the lateral position and movement of a saw blade. These measured and calculated values are used to automatically alter the work-feed rate and/or saw blade rim speed either up or down as sawing conditions change within the work piece or between different work pieces.

Abstract: A positioned sensing device measures and/or calculates the lateral position and movement of a saw blade. These measured and calculated values are used to automatically alter the work-feed rate and/or saw blade rim speed either up or down as sawing conditions change within the work piece or between different work pieces.

Abstract: There are provided a component suction site-teaching system and method for an electronic component-mounting apparatus including a vacuum nozzle having a nozzle end face for picking up an electronic component thereat by vacuum. The vacuum nozzle is moved in directions of X axis and Y axis. An image of the electronic component set at a pickup position is taken. A graphical image of the nozzle end face of the vacuum nozzle is created from shape data of the vacuum nozzle. The image of the electronic component taken by the image taking means and the graphical image of the nozzle end face created by the image creating means, are displayed on a screen such that the graphical image of the nozzle end face is superimposed on the image of the electronic component.

Abstract: The present invention relates to a control method and a control apparatus for controlling two (two kinds of) driver mechanisms for relatively moving a main spindle along a single axis in an NC machine tool whereby the straightness of the work-piece machined surface can be finished with high accuracy. The control method of the invention controls operations of two driver mechanisms (124,125,126) for relatively moving a main spindle (104) along a single axis in an NC machine tool (100), and one of the driver mechanisms (124 or 125,126) is driven to relatively move the main spindle (104) in a positive direction along the axis during machining, the other driver mechanism (124 or 125,126) is driven to relatively move the main spindle (104) in a negative direction along the axis during machining.

Abstract: A method of controlling a dispensing system, having a robot that moves along a motion segment and applies a material to a workpiece, automatically determines a backup distance for the robot after an error has occurred during the dispensing of a first portion of the material. The backup distance is based on an operational speed of the robot. The robot is relocated to a backup position based on this backup distance to ensure that the robot reaches the operational speed at least by a time that the robot reaches a re-application position. The re-application position is at or near where the application of the first portion of the material ended. Therefore, gaps, overlaps, and puddles in the material on the workpiece are prevented.

Abstract: A positioned sensing device measures and/or calculates the lateral position and movement of a saw blade. These measured and calculated values are used to automatically alter the work-feed rate and/or saw blade rim speed either up or down as sawing conditions change within the work piece or between different work pieces.

Abstract: A method for programming axial movements and events for industrial controllers is disclosed. A user may use an input device to enter axial movements and events into an electronic computer system, and thereafter generate controller language or code. The language or code may be used to operate the controller.

Abstract: A history of function values of a spindle rotation frequency in each time period from present to past is stored in a data table 22D and corrective coefficients are stored in advance in a corrective coefficient table 22C relating the coefficients to the location in the data table 22D. Each location and corrective coefficient are read out from the corrective coefficient table 22C and the function value of the spindle rotation frequency corresponding to the location is read out from the data table 22D. The compensation value is calculated from the total sum of each product of the function value and the corrective coefficient in each location and compensate the NC command position with the compensation value.

Abstract: In a machine tool controlled by using a numerical control device, a correction amount is determined for thermal displacement due to heat generation and heat conduction in a spindle motor and a feed shaft motor, in addition to thermal displacement due to heat generated by rotation of a spindle and a feed shaft. A tool position is corrected based on the correction amount. An entire stroke of the feed shaft is divided into a finite number of sections, and for each section, a correction amount for thermal displacement due to axial movement of the feed shaft is determined. The tool position is corrected based on the determined correction amount.

Abstract: A CNC machine is programmed to redefine the corner tolerance as a function of the corner angle based on a recognition that corners having angles not equal to 90° have effective corner tolerances that are equal to the corner tolerance specified by the operator divided by the sine of the corner angle. An increase in machining speed is achieved, because, at corner angles not equal to 90°, the redefined corner tolerance is larger than the operator-specified corner tolerance and the CNC machine is permitted to machine the corner at an earlier time than conventional CNC machines. The CNC machine is also programmed to provide the operator with an interactive control of the parameters that control the speed and accuracy of machining. With this feature, the operator is able to observe the effects of changing the control parameters on the speed and accuracy of machining, and to customize the control parameters to a particular type of tool or application based on the observations.

Abstract: Every time the cumulative number of revolutions of a spindle rotating motor reaches a cumulative number of revolutions set in a data table, a CPU reads out, from a data memory section, moving positions of a workpiece and tool at the reached cumulative number of revolutions and the next cumulative number of revolutions, and a spindle rotational speed instruction value at the reached cumulative number of revolutions. The CPU sets the reached cumulative number of revolutions as a start point and the next cumulative number of revolutions as an end point, and divides the interval between the start and end points at predetermined timings. The CPU determines moving positions of the workpiece and tool at divided timings on the basis of the readout moving positions of the workpiece and tool. The CPU outputs the spindle rotational speed instruction value as a spindle rotational speed instruction signal to a reference spindle rotational speed setting circuit to control the rotational speed of the spindle rotating motor.

Abstract: A spindle is formed with a radial flange in a vicinity of a front end thereof, a spindle feed shaft rotatably holding the spindle has a non-contact type deviation detector secured thereto in opposite to a surface of the flange in an axial direction of the spindle, the deviation detector detects a deviation of an air gap in the axial direction between therefrom to the flange surface, a correction value of an axial position of the spindle is calculated in accordance with the detected deviation of the air gap, and a command responsible for tile axial position of the spindle is corrected in accordance with the calculated correction value to compensate for an axial position of the front end of the spindle.

Abstract: An industrial robot capable of preventing re-collision after colliding with an obstacle. Disturbing torque exerted on each servomotor for a robot axis is estimated by its associated disturbance estimating observer. When a hand attached to an end of a robot arm collides with an obstacle, an estimated value of disturbance given by a disturbance estimating observer exceeds a predetermined threshold, and the collision is detected. Then, each motor for driving a robot arm is drivingly controlled with a velocity command turned to “0”. Each motor for driving the robot hand is driven with torque having a predetermined magnitude (maximum magnitude) and the same sign as that of an estimated value of disturbing torque exerted on it, for a predetermined time, and then it is brought to an emergency stop. Thus, after colliding with an obstacle, the robot hand is driven in a direction such that it recedes from the obstacle.