Abstract: A method and apparatus for optimizing the forging of a workpiece that is moved along a longitudinal axis of a forging press. The method includes detecting the relative positions of the first and second ends of the workpiece along the longitudinal axis and calculating a length of the workpiece therebetween.

Abstract: A method and apparatus for controlling the orienting of the ends of a finite length segment of tube following a bend thereof through a predefined angle. At least one straight finite length segment of tube is supplied to the tube bender for bending the tube about a bend axis. The two ends of the tube, following the bend, are measured to determine the distance between the end face of each leg to the bend axis. Appropriate adjustment is made to a pushing member to keep the ends of the tube in a generally coplanar relation. Additional measurement is performed to facilitate adjustment between the tube supply device and the tube bending mechanism.

Abstract: Several methods and subsystems are provided for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper.