Nippon Telegraph and Telephone Corporation

Shinyo Muto

Ken-ichiro Shimokura

The presentation of a contact point and contact normal line calculation method for processing/assembly apparatuses, having the ability to reduce contact point calculation errors due to errors in the force measurement device in both the direction of movement and the direction perpendicular to movement. The invention calculates the points and normal lines of contact between a tool and a product being processed by running, in order, a force application line calculation procedure to calculate the force application line from the signal output from the force measurement device; a intersection point calculation procedure to calculate the intersection point between the force application line and the tool by using information about the geometrical shape of tool; a dot product calculation procedure for determining the dot product between the translation velocity and the normal vector; a boundary distance calculation procedure to calculate the boundary distance to the boundary area; a force effect distance calculation procedure to calculate the force effect distance; and a function calculation procedure to calculate a function of the chosen points over the dot product, the force effect distance, and the boundary distance; taking the calculated function as a final determining function and taking the point within the chosen points which minimizes the final determining function and the corresponding normal vector as the contact point and contact normal line.

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Tokyo, Japan

Shinyo Muto