A method of correcting a track of a cutting edge is provided. With movement of the cutting edge, a point on the cutting edge in contact with the rotation symmetry plane is moved along the cutting edge from a first end portion of the cutting edge to a second end portion of the cutting edge opposite to the first end portion. The correction method includes measuring, by a measurement unit, a shape of the cut and machined rotation symmetry plane, calculating, by an operation unit, an error of the measured shape of the rotation symmetry plane from a target shape of the rotation symmetry plane in a direction of the axial line of rotation, and correcting, by the operation unit, a component in the direction of the axial line of rotation of a track of a point of cutting based on the error.

A robot is moved along a first continuous programmed path with a robot controller executing a learning path control program without performing an operation on a workpiece. The actual movement of the robot along the first continuous programmed path is recorded. The first continuous programmed path is adjusted to create a second programmed path. The robot is moved along the second continuous programmed with the robot controller executing the learning path control program without performing the operation on the workpiece. The actual movement of the robot along the second continuous programmed path is recorded. Traces of the recorded actual movements of the robot along the first continuous programmed path and the second continuous programmed path are displayed.

A method for calibrating a CNC machine including providing instructions for machining a surface of a distortion-free object, selecting a true axis of movement of a toolhead of the machine using the instructions, instructing the toolhead to travel on an object to be machined along the true axis of movement, but where the toolhead actually travels along an actual axis that is deviated from the true axis as a result of the surface distortions on the object to be machined, selecting multiple points along the actual axis traveled by the toolhead on the object to be machined, comparing the distance of the multiple points along the actual axis from the true axis to determine offset amounts from the true axis corresponding to a lack of straightness of the object to be machined, and modifying the instructions to compensate for the offset amounts before uploading the instructions to a CNC controller.

A servomotor control device includes a servomotor, driven body, connection mechanism, first position detection section, second position detection section, and motor control unit. The motor control unit has: a dual position control section that performs semi-closed FB control based on a high-frequency component of a first deviation between a position command value and the position of the servomotor detected by the first position detection section, and full-closed FB control based on a low-frequency component of a second deviation between the position command value and the position of the driven body detected by the second position detection section; an acquisition section that acquires a magnitude of rigidity of the connection mechanism; and a varying section that varies a proportion of the semi-closed FB control to full-closed FB control in the dual position control section, in response to the acquired magnitude of rigidity of the connection mechanism.

A control apparatus for a welding tool includes a determination module for determining a normalized displacement signal, in which a deflection of a tong-shaped tool, due to an effect of a mechanical force generated on the tool during a work process using the tong-shaped tool, is compensated for. The control apparatus further includes a force regulation module for regulating a progression of the force which the tong-shaped tool applies to at least one component during the work process on at least one component. The force regulation module is configured to regulate the progression of the force during the work process based on the normalized displacement signal.

A method of correcting a track of a cutting edge is provided. With movement of the cutting edge, a point on the cutting edge in contact with the rotation symmetry plane is moved along the cutting edge from a first end portion of the cutting edge to a second end portion of the cutting edge opposite to the first end portion. The correction method includes measuring, by a measurement unit, a shape of the cut and machined rotation symmetry plane, calculating, by an operation unit, an error of the measured shape of the rotation symmetry plane from a target shape of the rotation symmetry plane in a direction of the axial line of rotation, and correcting, by the operation unit, a component in the direction of the axial line of rotation of a track of a point of cutting based on the error.

A method for calibrating a CNC machine including providing instructions for machining a surface of a distortion-free object, selecting a true axis of movement of a toolhead of the machine using the instructions, instructing the toolhead to travel on an object to be machined along the true axis of movement, but where the toolhead actually travels along an actual axis that is deviated from the true axis as a result of the surface distortions on the object to be machined, selecting multiple points along the actual axis traveled by the toolhead on the object to be machined, comparing the distance of the multiple points along the actual axis from the true axis to determine offset amounts from the true axis corresponding to a lack of straightness of the object to be machined, and modifying the instructions to compensate for the offset amounts before uploading the instructions to a CNC controller.

A method for virtually calibrating a CNC machine including the steps of selecting a true axis of movement of a toolhead of the CNC machine, instructing the toolhead to travel along the true axis of movement, selecting multiple points along an actual axis traveled by the toolhead, comparing the distance of the multiple points along the actual axis from the true axis to determine offset amounts from the true axis corresponding to a lack of straightness, and modifying g-code instructions to compensate for the offset amounts before uploading the g-codes to a CNC controller.

A servomotor control device includes a servomotor, driven body, connection mechanism, first position detection section, second position detection section, and motor control unit. The motor control unit has: a dual position control section that performs semi-closed FB control based on a high-frequency component of a first deviation between a position command value and the position of the servomotor detected by the first position detection section, and full-closed FB control based on a low-frequency component of a second deviation between the position command value and the position of the driven body detected by the second position detection section; an acquisition section that acquires a magnitude of rigidity of the connection mechanism; and a varying section that varies a proportion of the semi-closed FB control to full-closed FB control in the dual position control section, in response to the acquired magnitude of rigidity of the connection mechanism.

A machine learning device and a machine learning method for optimizing timing at which a tool is to be compensated in a machine tool, and a machine tool including the machine learning device. The machine learning device includes a state observation unit for observing a time interval for compensating the tool, a processing error amount of a workpiece processed by the machine tool, and a machine working ratio of the machine tool as state variables, and a learning unit for learning an action value with respect to a change of a tool compensation interval based on the tool compensation interval, the processing error amount of a workpiece, and the machine working ratio that are observed by the state observation unit.