MACHINING APPARATUS, METHOD FOR MAKING INSTRUCTION, METHOD FOR PRODUCING WORKPIECE, CONTROLLER, AND METHOD FOR CONTROL
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United States of America Patent
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Issued Date -
May 5, 2016
app pub date -
Oct 1, 2015
filing date -
Oct 29, 2014
priority date (Note) -
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Abstract
A machining apparatus includes a robot and a controller. A target acquirer acquires a target value of a position and posture of a distal end of the robot. With a movement target value of a distance adjustment actuator of the robot being fixed, a first calculator calculates movement target values of first to third actuators and posture adjustment actuators of the robot corresponding to the target value of the position and posture. A determiner determines whether a movement target value of one of the actuators is within an allowable range. When out of the allowable range, a second calculator calculates the movement target values of the actuators corresponding to the target value of the position and posture to cause the movement target value to fall within the range. An outputter controls the actuators in accordance with the respective movement target values.
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