Processing data during polygon processing is stored in the processing data storage unit 17. The position detection unit 18 detects a cut-start position A and a cut-end position B of a workpiece based on a change in the processing data. The position detection unit 18 detects a processing surface based on the cut-start position A and the cut-end position B.

The present disclosure is directed to calibrating position detection for a tool. The tool can use a sensor to detect a first value of a parameter. The tool can use a motor to extend the working member of the tool towards a working surface. The tool can include a base. The tool can detect, with the working member in contact with the working service, a second value of the parameter. The tool can determine a z-axis position of the working member relative to the working surface.

A force control device mitigates or eliminates impact force overshoot upon contact between a robotic tool and a workpiece. Contact is detected while operating the force control device in a position control mode, according to either of a steady state search method or a transient search method. The force applied to the workpiece upon contact is less than a predetermined setpoint force. Upon detecting contact, the force control device performs a bumpless transfer to a force control mode. In force control mode, the force control device ramps the contact force to the predetermined setpoint. The force ramp may be linear, or along a user-defined trajectory. The stiffness of the force control device is different in position and force control modes, controlled by backpressure in a pneumatic cylinder.

A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.

A clearance gage that includes an elongated shaft having a first end and a second end, a gage element connected to the first end of the elongated shaft, where the gage element defines a first width and a second width measured perpendicular to the elongated shaft, where the first width is larger than the second width, where a thickness of the elongated shaft is not more than the second width, where the first width defines a size of the gage element to assess a gap clearance between two components, and a marker connected to the elongated shaft, where the marker is positioned at a predetermined distance from the gage element along the elongated shaft, where the marker defines a marker width measured in a direction perpendicular to the elongated shaft that is greater than the second width of the gage element.

A machine tool includes a shaft load measuring unit measures a load of the main shaft motor. When a measured load of the main shaft motor exceeds a predetermined value, it is determined that a tool is brought into contact with a work. Detection and correction of thermal displacement of the main shaft are performed by comparing a reference time and a measured time for the tool to reach the work.

The present disclosure is directed to calibrating position detection for a tool. The tool can use a sensor to detect a first value of a parameter. The tool can use a motor to extend the working member of the tool towards a working surface. The tool can include a base. The tool can detect, with the working member in contact with the working service, a second value of the parameter. The tool can determine a z-axis position of the working member relative to the working surface.

Provided are a plate holding device, a plate detaching apparatus, a plate attaching apparatus and a plate attaching-detaching apparatus which are capable of reliably attaching and/or detaching a plate with respect to a plate-receiving metal frame. The plate holding device comprises: a plurality of holding members for holding a plate for a sliding nozzle device; widening and narrowing mechanisms to selectively widen and narrow a distance between the holding members; a pressing unit for pressing a central region of the plate when the plate is held by the holding members; and a force sensor for detecting a force received by the holding members and/or the pressing unit from the held plate. The plate holding device is configured to be mounted to a distal end of a robot arm.

Processing data during polygon processing is stored in the processing data storage unit 17. The position detection unit 18 detects a cut-start position A and a cut-end position B of a workpiece based on a change in the processing data. The position detection unit 18 detects a processing surface based on the cut-start position A and the cut-end position B.

The present disclosure is directed to calibrating position detection for a tool. The tool can use a sensor to detect a first value of a parameter. The tool can use a motor to extend the working member of the tool towards a working surface. The tool can include a base. The tool can detect, with the working member in contact with the working service, a second value of the parameter. The tool can determine a z-axis position of the working member relative to the working surface.