The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 27, 2021
Filed:
Aug. 30, 2017
Kawasaki Jukogyo Kabushiki Kaisha, Hyogo, JP;
Yuhei Horiuchi, Nishinomiya, JP;
Daisuke Kawakami, Kobe, JP;
Kazunori Hara, Kakogawa, JP;
Jun Fujimori, Himeji, JP;
Hajime Kashiki, Kobe, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.