Patent ID: 6617544
Filing Date: 2003-09-09
Classification: B23K,B25J,G05B

Abstract:
A control apparatus for a three-dimensional laser working machine, said three-dimensional laser working machine including a head structure for which working points do not change when a rotational axis and an attitude axis are rotated, said control apparatus deciding a tip position and an attitude of a nozzle of said head structure and carrying out working based on the decided tip position, said control apparatus comprising:a unit which calculates a nozzle direction vector from current angles of the rotational axis and the attitude axis, a unit which calculates an angle where the attitude axis changes for constant time and calculating an angle through which the rotational axis is rotated so that X and Y directions of the nozzle direction vector are kept constant according to an angle change amount of the attitude axis, and a unit which controls the rotation of the rotational axis based on the calculated angle.