Importance

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Abstract

A profiling control system for a multiple-degree-of-freedom working machine having at least two degrees of freedom has at least one force control loop. The control loop has a detector for detecting the force applied to a working tool from a work surface, an error detector for determining the difference between the detected force and a command f.sub.ro of urging force of the working took, a processor for computing a velocity command u.sub.z of the working tool on the basis of the determined error, a drive system for moving the multiple-degree-of-freedom working machine on the basis of the velocity command. Further, the multiple-degree-of-freedom working machine is moved on the basis of a velocity command u.sub.x. The control system provides a moving velocity v.sub.zof in an urging direction of the working tool, which occurs as the result of a gradient tan .alpha. of the work surface with respect to a feed direction when the working tool is fed with the velocity command u.sub.x and while the working tool is urged against the work surface with the force command f.sub.ro. Also, a controlled variable, either f.sub.ro or u.sub.z of the force control loop is corrected by using the moving velocity v.sub.zof in the urging direction, thereby canceling the force f.sub.of due to the velocity v.sub.zof.

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First Claim