This robot system includes a sensor system, a robot, and a robot controller, in which the robot controller recognizes a robot coordinate system but does not recognize a sensor coordinate system of the sensor system, and the robot controller creates a conversion matrix for carrying out coordinate conversion in a plane including an X-axis and a Y-axis on sets of position coordinates obtained by the sensor system based on the sets of position coordinates of a plurality of objects or points obtained by the sensor system and sets of position coordinates in an X-axis direction and a Y-axis direction in a robot coordinate system corresponding to the plurality of objects or points.

A numerical control system according to the present invention controls machine drive systems included in a machine tool that performs machining using a tool, according to a numerical control program, and includes a coordinate transformation unit that acquires a disturbance force or a disturbance torque applied to each machine drive system, and coordinate-transforms the disturbance force or the disturbance torque into a tool reference coordinate system for output, and an identification unit that calculates cutting process parameters that determine characteristics of a cutting process model and dynamic characteristic parameters that determine characteristics of a dynamics model of the machine tool, using the disturbance force or the disturbance torque output from the coordinate transformation unit, states of the machine drive systems, predetermined equation models, and cutting conditions. The equation models define relationships between the cutting process parameters, the dynamic characteristic parameters, and the disturbance force or the disturbance torque.

A numerical control system according to the present invention controls machine drive systems included in a machine tool that performs machining using a tool, according to a numerical control program, and includes a coordinate transformation unit that acquires a disturbance force or a disturbance torque applied to each machine drive system, and coordinate-transforms the disturbance force or the disturbance torque into a tool reference coordinate system for output, and an identification unit that calculates cutting process parameters that determine characteristics of a cutting process model and dynamic characteristic parameters that determine characteristics of a dynamics model of the machine tool, using the disturbance force or the disturbance torque output from the coordinate transformation unit, states of the machine drive systems, predetermined equation models, and cutting conditions. The equation models define relationships between the cutting process parameters, the dynamic characteristic parameters, and the disturbance force or the disturbance torque.

A control system 1 includes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing module 240 that acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes.

A numerical control system according to the present invention controls machine drive systems included in a machine tool that performs machining using a tool, according to a numerical control program, and includes a coordinate transformation unit that acquires a disturbance force or a disturbance torque applied to each machine drive system, and coordinate-transforms the disturbance force or the disturbance torque into a tool reference coordinate system for output, and an identification unit that calculates cutting process parameters that determine characteristics of a cutting process model and dynamic characteristic parameters that determine characteristics of a dynamics model of the machine tool, using the disturbance force or the disturbance torque output from the coordinate transformation unit, states of the machine drive systems, predetermined equation models, and cutting conditions. The equation models define relationships between the cutting process parameters, the dynamic characteristic parameters, and the disturbance force or the disturbance torque.

A programming device includes an information storage unit that stores, in association with identification information assigned to a tool, coordinate conversion information used to convert a coordinate value in a rotating coordinate system into a coordinate value in a reference coordinate system, an execution command generation unit that generates a coordinate conversion execution command based on the coordinate conversion information stored in association with the identification information, and a programming unit that creates a coordinate conversion program including the coordinate conversion execution command generated by the execution command generation unit.

A numerical controller includes an information storage unit that stores, in association with identification information assigned to a tool, coordinate conversion information used to convert a coordinate value in a rotating coordinate system into a coordinate value in a reference coordinate system, an information acquisition unit that acquires, from a machining program, a coordinate value that indicates a movement path of the tool to which the identification information is assigned, and a coordinate conversion unit that performs coordinate conversion of the coordinate value indicating the movement path acquired by the information acquisition unit, based on the coordinate conversion information stored in the information storage unit.

A control device includes: an input unit; a motor driving control unit; an amount-of-movement detecting unit; a coordinate position detecting unit; a display unit; and a rounding processing unit configured to, during an axial feed operation, repeatedly perform rounding processing for rounding to a rounding place at least one of the coordinate position and the amount of movement of an object to be moved. The motor driving control unit drives motors, after the axial feed operation has been stopped, based on the result of the rounding processing that was performed last.

A numerical control system according to the present invention controls machine drive systems included in a machine tool that performs machining using a tool, according to a numerical control program, and includes a coordinate transformation unit that acquires a disturbance force or a disturbance torque applied to each machine drive system, and coordinate-transforms the disturbance force or the disturbance torque into a tool reference coordinate system for output, and an identification unit that calculates cutting process parameters that determine characteristics of a cutting process model and dynamic characteristic parameters that determine characteristics of a dynamics model of the machine tool, using the disturbance force or the disturbance torque output from the coordinate transformation unit, states of the machine drive systems, predetermined equation models, and cutting conditions. The equation models define relationships between the cutting process parameters, the dynamic characteristic parameters, and the disturbance force or the disturbance torque.

This robot system includes a sensor system, a robot, and a robot controller, in which the robot controller recognizes a robot coordinate system but does not recognize a sensor coordinate system of the sensor system, and the robot controller creates a conversion matrix for carrying out coordinate conversion in a plane including an X-axis and a Y-axis on sets of position coordinates obtained by the sensor system based on the sets of position coordinates of a plurality of objects or points obtained by the sensor system and sets of position coordinates in an X-axis direction and a Y-axis direction in a robot coordinate system corresponding to the plurality of objects or points.