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Control apparatus for a three-dimensional laser working machine and three-dimensional laser working machine

  • US 6,617,544 B1
  • Filed: 03/22/2002
  • Issued: 09/09/2003
  • Est. Priority Date: 05/19/2000
  • Status: Expired due to Term
First Claim
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1. 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.

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