Workpiece machining method for, e.g., industrial robot, involves compensating deviation of determined actual-position from reference-movement path and deviation of determined actual-speed vector from measured reference-speed vector

摘要

The method involves determining an actual-position and actual-speed vector of an operating point relative to a workpiece (4). The determined actual-position is compared with a reference-movement path produced from reference-positions interpolation. The determined vector is compared with a measured reference-speed vector, which lead to the path based on the determined actual-position. The deviation of the determined actual-position from the path and the deviation of the determined actual-speed vector from the measured reference-speed vector are compensated by refraction of an energy beam. An independent claim is also included for a device for machining a workpiece by an energy beam, e.g. laser beam.