Calculation of the points of the technological trajectory of the laser robotic complex relative to the tool and tooling in the CAM
The article deals with the methods of calculating the points of the technological trajectory of the laser robotic complex (LRC) in the world graphic space CAM relative to the tool and mobile equipment. The questions of using CAM systems in modern laser robotic systems are considered, as well as the authors own software development is presented. The main specifics and problems of calculation of points of the world graphic space CAM and their correspondence to the location of the LRC tool and mobile equipment are considered. Methods for calculating the position and orientation of the tool relative to the local basis of the part model are presented. Their calculation in the system of two-axis positioning device of LRC is offered. The mechanism of determining the position of the rotation angle around the laser beam of the LRC actuator fixed on the 6th axis of the movable flange of the last link of the industrial robot is described.