Laser tool robot system with coordinated drive shaft control

A robot system comprising:

• a robot including a first plurality of driving shafts;
• a tool which is fitted on a front end portion of the robot and includes a second plurality of driving shafts for driving different parts of the tool;
• a robot control device which controls the driving shafts of the robot and the driving shafts of the tool, the robot control device including a robot shaft calculator and a tool shaft calculator;
• and a laser oscillator connected to the tool,
• wherein:
• the robot shaft calculator calculates, every control cycle, the position and posture of a coordinate system fixed to the tool as viewed in the robot coordinate system on the basis of the position and posture of a first tool coordinate system as viewed in the robot coordinate system, the position and posture of a second tool coordinate system as viewed in the robot coordinate system, and the times of control cycle, and the robot moves the tool with a drive of the first plurality of driving shafts of the robot, the laser oscillator outputs a laser beam, which is incident on the tool and directed to an object using a drive of the second plurality of driving shafts of the tool, and the robot control device controls the first plurality of driving shafts of the robot and the second plurality of driving shafts of the tool in synchronization with each other,
• and a focal position of the laser beam is calculated based on calculating a radiation start position of the laser beam and a radiation end position of the laser beam as viewed in the robot coordinate system,
• wherein:
• the tool shaft calculator includes
• a position calculating section which calculates the radiation start position of the laser beam as viewed in the robot coordinate system fixed to the base of the robot and which calculates the radiation end position of the laser beam as viewed in the robot coordinate system on the basis of a position and posture of the second tool coordinate system, which is fixed to the position of the tool at the time of instructing the radiation end position of the laser beam, as viewed in the robot coordinate system and the focal position radiation end position of the laser beam as viewed in the second tool coordinate system;
• a calculating section of times of control cycle which calculates a vector of the radiation area and the times of control cycle on the basis of the radiation start position, the radiation end position, and the moving speed of the focal position of the laser beam in the radiation area of the laser beam;
• and
• a laser position instruction generating section which calculates the focal position of the laser beam every control cycle as viewed in the coordinate system fixed to the tool on the basis of the position and posture of the robot coordinate system fixed to the tool every control cycle as viewed in the robot coordinate system the vector of the radiation area, and the times of control cycle, and on the basis of the radiation start position as viewed in the robot coordinate system.