The invention relates to a method for compensating for a deviation in an operating point (1) of a manipulator (2) during the processing of a workpiece (3) via an end effector (4) on the manipulator (2); wherein a command sequence is processed for controlling the manipulator (2) for the purpose of processing the workpiece (3), and a piece of setpoint position information (5) corresponding to a setpoint position (6) is generated based on the command sequence, the operating point (1) of the manipulator (2) being set based on said piece of setpoint position information (5); wherein the piece of setpoint position information (5) is processed using a compensation parameter set (7) which is related to the piece of setpoint position information (5), for ascertaining a compensation value (8), and the piece of setpoint position information (5) is adjusted according to the compensation value (8) for compensating for a deviation (9) between an actual position (10) of the operating point (1) and the setpoint position (6). The invention is characterized in that the actual position (10) is measured during the processing of the workpiece (3); in that a correction value (12) is ascertained, based on a comparison between the measured actual position (10) and the setpoint position (6); and in that the compensation parameter set (7) is adjusted during the processing of the workpiece (3) for reducing the deviation (9), based on the correction value (12).

Control commands for a control device of a machine define a sequence of successive sections of ideal position target values for a position-controlled shaft of the machine. The ideal position target values either increase or decrease monotonically within the sections, but the direction of the monotony changes from section to section. A position controller determines actuating signals for an actuator from position target values resulting from ideal position target values, additional target values and position actual values. Within sections, the additional target values are positive (negative) when the ideal position target values increase (decrease) monotonically. The additional target values have a first component dependent exclusively on a position difference, with the magnitude of the first component increasing as the magnitude of the position difference increases, first strictly monotonically and then at least monotonically.

Control commands for a control device of a machine define a sequence of successive sections of ideal position target values for a position-controlled shaft of the machine. The ideal position target values either increase or decrease monotonically within the sections, but the direction of the monotony changes from section to section. A position controller determines actuating signals for an actuator from position target values resulting from ideal position target values, additional target values and position actual values. Within sections, the additional target values are positive (negative) when the ideal position target values increase (decrease) monotonically. The additional target values have a first component dependent exclusively on a position difference, with the magnitude of the first component increasing as the magnitude of the position difference increases, first strictly monotonically and then at least monotonically.

A numerical control device includes a tool-attitude vector tolerance input unit to accept a tolerance for correction amounts for tool-attitude vectors; a rotation-axis tolerance determining unit to determine, on the basis of tool attitudes calculated from rotation-axis angles before smoothing and of the tolerance for correction amounts for tool-attitude vectors, a tolerance for correction amounts for the rotation-axis angles; a rotation-axis angle smoothing unit to smooth the rotation-axis angles before smoothing so that change in the rotation-axis angle becomes smooth, thereby calculating rotation-axis angles after smoothing; and a rotation-axis angle determining unit to correct the rotation-axis angles after smoothing so as to fall within the tolerance for correction amounts for rotation-axis angles from the rotation-axis angles before smoothing.

Various embodiments relate to compensating for a deviation in an operating point of a manipulator during the processing of a workpiece. A command sequence is processed for controlling the manipulator, and a piece of setpoint position information is generated. The operating point is set based on the setpoint position information. The setpoint position information is processed using a compensation parameter set for ascertaining a compensation value. The setpoint position information is adjusted according to the compensation value for compensating for a deviation between an actual position of the operating point and the setpoint position. The actual position is measured during the processing of the workpiece. A correction value is ascertained, based on a comparison between the measured actual position and the setpoint position. The compensation parameter set is adjusted during the processing of the workpiece for reducing the deviation based on the correction value.

A control device of a robot for controlling the angle of a joint of the robot that is driven by a motor. The control device is equipped with: a joint angle command-calculating unit for calculating a joint angle command value; an axial force torque-calculating unit for calculating the axial force torque generated in the joint axis; an elastic deformation-compensating unit for calculating a motor command angle by adding a joint deflection, which is calculated from the axial force torque and a joint spring constant, to the joint angle command value; a stopping position-detecting unit for detecting the angle of the motor when the robot contacts an external structure; and a command angle-switching unit for outputting the motor angle detected by the stopping position-detecting unit instead of the joint angle command value when the stopping position-detecting unit outputs the angle of the motor.

A numerical control device includes a tool-attitude vector tolerance input unit to accept a tolerance for correction amounts for tool-attitude vectors; a rotation-axis tolerance determining unit to determine, on the basis of tool attitudes calculated from rotation-axis angles before smoothing and of the tolerance for correction amounts for tool-attitude vectors, a tolerance for correction amounts for the rotation-axis angles; a rotation-axis angle smoothing unit to smooth the rotation-axis angles before smoothing so that change in the rotation-axis angle becomes smooth, thereby calculating rotation-axis angles after smoothing; and a rotation-axis angle determining unit to correct the rotation-axis angles after smoothing so as to fall within the tolerance for correction amounts for rotation-axis angles from the rotation-axis angles before smoothing.

A control device of a robot for controlling the angle of a joint of the robot that is driven by a motor. The control device is equipped with: a joint angle command-calculating unit for calculating a joint angle command value; an axial force torque-calculating unit for calculating the axial force torque generated in the joint axis; an elastic deformation-compensating unit for calculating a motor command angle by adding a joint deflection, which is calculated from the axial force torque and a joint spring constant, to the joint angle command value; a stopping position-detecting unit for detecting the angle of the motor when the robot contacts an external structure; and a command angle-switching unit for outputting the motor angle detected by the stopping position-detecting unit instead of the joint angle command value when the stopping position-detecting unit outputs the angle of the motor.

An operating device and a method for distributed compensating a spacing between two workpieces, relating to the fields of measurement and control technology and precision manufacturing technology are disclosed. The operating device comprises: a control system, at least one spacing compensation unit, a first support layer, an operating workpiece, and a plurality of sensors; the sensors are used to measure a distance between the operating workpiece and a corresponding position on a surface to be operated of the measured workpiece; the control system is used to control the spacing compensation units to adjust the distances between a corresponding target portion on the operating workpiece and the measured workpiece based on the distances measured by the sensors, so as to make the shapes of two opposite surfaces between the operating workpiece and the measured workpiece matched; the target portion is the portion of the operating workpiece overlapped with the spacing compensation unit.

An embodiment provides a control method for controlling a mechatronic system. The method comprises providing a model of the mechatronic system, the model comprising a disturbance compensation parameter and modifying the disturbance compensation parameter by: obtaining a servo-error of the mechatronic system, obtaining a setpoint of the mechatronic system and determining, based on the setpoint and the model of the mechatronic system comprising the disturbance compensation parameter, a predicted servo-error of the mechatronic system, such that the disturbance compensation parameter is based on a correlation between the servo-error and the predicted servo-error. The method further comprises updating a feedforward transfer function of the mechatronic system based on the modified disturbance compensation parameter and continuously determining a control signal to control the mechatronic system using the updated feedforward transfer function.