Construction and Movement Control of Integrated Executive Device of Laser-Robot

Abstract

During the processing and utilization of large-overall metalwork of the complex configuration in the metallurgical, chemical, ship-building and atomic industry application of the universal laser technological complexes (LTC) with optics manipulators - the systems of movement of optical elements on the linear, rotational and complex trajectory is expedient. The actuator of laser-robot is a complexed (integrated) manipulation system consisting of a set of successively arranged transport and technological manipulators. Three-degree transport manipulator operating in permutation mode is carrier for main five-degree technological manipulator, which moves working tool - optical head at fixed transport manipulator. Control of position and orientation of optical head of laser-robot in conditions of structural-technological complexity, non-stability and uncertainty of object is most expedient in class of intelligent control. The offered system of neural network control contains controllers of coordinate and functional conversions and sensors as thickness of the cut material of an object and control of its cutting. The controller of lasing source, changes beam power depending on cutting conditions. Researches of the computer model of the proposed control system have shown its operability and efficiency of its application as a simulator in the development of control programs.