Mechanical arm laser processing process control method and system based on laser signal feedback

By synchronously acquiring and reconstructing the geometric characterization parameters of the molten pool, calculating the transient tracking error, and modulating the duty cycle of the laser pulse, the problem of spatial motion trajectory deviation and dynamic coupling of the energy field in laser processing was solved, thus achieving stability of the laser processing process and consistency of the weld seam morphology.

CN122275017APending Publication Date: 2026-06-26WUXI CHAOQIANGWEIYE TECH CO LTD
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
WUXI CHAOQIANGWEIYE TECH CO LTD
Filing Date
2026-05-28
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

Existing technologies fail to effectively handle the dynamic coupling between spatial motion trajectory deviation and processing energy field in laser processing. This can lead to the system output deviating from the actual processing trajectory during high-temperature continuous operation. Furthermore, it cannot map the physical compression of the previously planned path caused by sudden changes in the molten pool morphology in real time, making it difficult to cope with the risk of beam focus position drift under complex spatial curve processing conditions.

Method used

By synchronously acquiring coaxial photoelectric detection signals of the molten pool, joint coding data, and theoretical interpolation coordinates through multidimensional data, the geometric characterization parameters of the molten pool are reconstructed, the transient tracking error is calculated, and the physical constraint mapping relationship between the laser output power and the correction path of the robotic arm is established using the power attenuation coefficient. The duty cycle of the laser pulse is modulated in real time to eliminate the heat accumulation caused by motion hysteresis.

Benefits of technology

It achieves continuity and reliability of energy control logic during laser processing, avoids abnormal power jumps caused by false signal fluctuations, ensures physical alignment between laser output power and mechanical system, solves the problem of time scale mismatch in traditional control methods, and maintains the consistency of weld seam morphology.

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Abstract

This invention belongs to the field of laser precision machining and robot control technology, and relates to a method and system for controlling the laser machining process of a robotic arm based on laser signal feedback. The method simultaneously acquires coaxial photoelectric detection signals of the molten pool, joint coding data, and theoretical interpolation coordinates. By transforming the spectrum of the detection signals and filtering out plume radiation interference, geometric parameters characterizing the shape evolution of the molten pool are obtained. The spatial vector difference between the physical coordinates of the machining head and the theoretical interpolation coordinates is calculated to determine the transient tracking error and map it to obtain a power attenuation coefficient. This coefficient is used to reduce the transient laser output power in real time, physically aligning the real-time laser energy density with the actual movement speed of the robotic arm's end effector. By establishing a physical constraint on the energy output to mechanical servo hysteresis, this invention solves the time scale mismatch problem between microsecond-level photoelectric response and millisecond-level mechanical response, effectively eliminating local heat accumulation on the machining path and maintaining the steady state of the molten pool.
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