The present disclosure relates to a laser apparatus including a laser oscillator for oscillating a laser beam; a mirror mount assembly including a mount-side reflective mirror for transmitting the laser beam by reflecting the laser beam; an aligner including a dial that is configured to change alignment of the mount-side reflective mirror according to a rotation angle and a rotation direction and is responsible for adjusting, by the degree of displacement of the reflection angle of the mount-side reflective mirror according to change in the alignment state, a processing optical path through which the laser beam travels, and a driving motor for driving rotation of the dial; an examination module for calculating the optical path difference between a predetermined reference processing optical path and the processing optical path and examining whether optical path distortion occurs on the processing optical path; a calculation module for, when the optical path difference exceeds predetermined reference optical path difference, calculating the target driving speed and target driving time of the driving motor for changing alignment of the mount-side reflective mirror to correct the optical path distortion so that the optical path difference is less than or equal to the predetermined reference optical path difference; and a controller for driving the driving motor according to the target driving speed and the target driving time, wherein the examination module recalculates the optical path difference between the reference processing optical path and the processing optical path that has been changed by the driving motor according to the target driving speed and the target driving time and re-examines whether the optical path distortion occurs, the calculation module recalculates the target driving speed and the target driving time based on the recalculated optical path difference when the recalculated optical path difference exceeds the reference optical path difference, and the controller drives the driving motor again according to the recalculated target driving speed and target driving time.

A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.

The present disclosure relates to a laser apparatus including a laser oscillator for oscillating a laser beam; a mirror mount assembly including a mount-side reflective mirror for transmitting the laser beam by reflecting the laser beam; an aligner including a dial that is configured to change alignment of the mount-side reflective mirror according to a rotation angle and a rotation direction and is responsible for adjusting, by the degree of displacement of the reflection angle of the mount-side reflective mirror according to change in the alignment state, a processing optical path through which the laser beam travels, and a driving motor for driving rotation of the dial; an examination module for calculating the optical path difference between a predetermined reference processing optical path and the processing optical path and examining whether optical path distortion occurs on the processing optical path; a calculation module for, when the optical path difference exceeds predetermined reference optical path difference, calculating the target driving speed and target driving time of the driving motor for changing alignment of the mount-side reflective mirror to correct the optical path distortion so that the optical path difference is less than or equal to the predetermined reference optical path difference; and a controller for driving the driving motor according to the target driving speed and the target driving time, wherein the examination module recalculates the optical path difference between the reference processing optical path and the processing optical path that has been changed by the driving motor according to the target driving speed and the target driving time and re-examines whether the optical path distortion occurs, the calculation module recalculates the target driving speed and the target driving time based on the recalculated optical path difference when the recalculated optical path difference exceeds the reference optical path difference, and the controller drives the driving motor again according to the recalculated target driving speed and target driving time.

A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.

A maintenance tool and alignment system are provided having a first optical device and a second optical device. The tool includes the at least two optical devices such that they do not occupy the same space or interfere with the tool's function. In some embodiments, the first and second optical devices define or project a first viewing plane and a second viewing plane. The first viewing plane and second viewing plane are transverse to one another and intersect within a field of view of the first optical device creating an intersection. The intersection of the first and second viewing planes allows for the tool, via a processor or a control device, to alignment the tool within a workspace without a dependence on an estimation of a distance of the tool relative to the workspace.