The invention relates to a machining tool for machining a workpiece, including a main spindle with a driven shank, a tool holder which can be clamped in the shank, a cutting tool which is arranged on the tool holder, a distance sensor for determining a distance of the shank of the main spindle in relation to a reference point, and a control unit which is configured to perform compensation of the tool path during machining of the workpiece based on an elongation and displacement of the shank and an elongation of the tool holder holding the cutting tool, wherein the elongation and displacement of the shank is determined based on the distance determined using the distance sensor, and wherein the elongation of the tool holder holding the cutting tool is determined based on a rotational speed of the shank.

A thermal displacement correction system performs thermal displacement correction in cooperation with a thermal displacement correction device and a computer connected via a network. The thermal displacement correction system that corrects thermal displacement caused by processing performed by a machine comprises: the thermal displacement correction device connected to the machine; and the computer connected to the thermal displacement correction device via the network. The computer comprises: a data acquisition unit that acquires environmental data on an external environment of the machine via the network; a correction value inference unit that calculates a correction value using the environmental data; and a correction value output unit that outputs the correction value to the network. The thermal displacement correction device comprises: a correction value acquisition unit that acquires the correction value via the network; and a correction execution unit that performs thermal displacement correction using the correction value.

A thermal displacement correction system performs thermal displacement correction in cooperation with a thermal displacement correction device and a computer connected via a network. The thermal displacement correction system that corrects thermal displacement caused by processing performed by a machine comprises: the thermal displacement correction device connected to the machine; and the computer connected to the thermal displacement correction device via the network. The computer comprises: a data acquisition unit that acquires environmental data on an external environment of the machine via the network; a correction value inference unit that calculates a correction value using the environmental data; and a correction value output unit that outputs the correction value to the network. The thermal displacement correction device comprises: a correction value acquisition unit that acquires the correction value via the network; and a correction execution unit that performs thermal displacement correction using the correction value.

A machine learning device that can optimize an equation for estimating a thermal displacement amount of a machine element based on the operating state of the machine element. The device acquires operating state data of the machine element, acquires a measured value for the thermal displacement amount, stores the operating state data and measured values for the thermal displacement amount of the machine element as training data associated together as a label, sets an equation for calculation the thermal displacement amount based on the operating state data, calculates an estimated value for the thermal displacement amount by substituting the operating state data into this equation, determines whether a difference between the estimated value for the thermal displacement amount and the measured value for the thermal displacement amount is no more than a predetermined threshold.

A method, device, and computer program product for compensating robot movement deviations caused by a gear box as well as to a robot arrangement including such a device. The device has a drift estimating block configured to obtain motor data ({dot over (q)}.sub.r) and motor torque data () related to the motor, determine a measure of the temperature of the gear box based on the motor data ({dot over (q)}.sub.r) and motor torque data () and estimate the drift (q) based on a drift value of the robot section, the drift value in turn being obtained based on the gearbox temperature measure and a gravitational torque (.sub.grav) of the motor, and a drift adjusting block (44) configured to adjust a control value (q.sub.r) used to control the positioning of the robot based on the estimated drift (q).

A machine learning device that can optimize an equation for estimating a thermal displacement amount of a machine element based on the operating state of the machine element. The device acquires operating state data of the machine element, acquires a measured value for the thermal displacement amount, stores the operating state data and measured values for the thermal displacement amount of the machine element as training data associated together as a label, sets an equation for calculation the thermal displacement amount based on the operating state data, calculates an estimated value for the thermal displacement amount by substituting the operating state data into this equation, determines whether a difference between the estimated value for the thermal displacement amount and the measured value for the thermal displacement amount is no more than a predetermined threshold.

A method, device, and computer program product for compensating robot movement deviations caused by a gear box as well as to a robot arrangement including such a device. The device has a drift estimating block configured to obtain motor data ({dot over (q)}.sub.r) and motor torque data () related to the motor, determine a measure of the temperature of the gear box based on the motor data ({dot over (q)}.sub.r) and motor torque data () and estimate the drift (q) based on a drift value of the robot section, the drift value in turn being obtained based on the gearbox temperature measure and a gravitational torque (.sub.grav) of the motor, and a drift adjusting block (44) configured to adjust a control value (q.sub.r) used to control the positioning of the robot based on the estimated drift (q).