Laser Processing Robot Control via Multi-Rate Interpolation
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Solution Overview
Problem
In laser processing robot systems, the precision of the laser irradiation trajectory is limited by the control performance of the robot, making it difficult to achieve precise laser processing when the control periods for the robot and the laser scanner are synchronized.
Innovation Solution
The system determines first and second interpolated positions based on different interpolation periods, with the robot controller instructing the robot on first interpolated positions and outputting command values to the laser irradiation device controller at shorter second interpolation periods, allowing for precise control of the laser irradiation device's motion trajectory independent of the robot's control performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the control period for the laser scanner is set shorter than the control period for the robot, then the laser scanner can be controlled with higher precision, but the trajectory of the irradiation point will still follow the robot's operation and precision is limited by the robot's control performance
Solution Approach 1:
The patent segments the control periods into two distinct levels: a first control period for robot position control and a second control period (shorter than the first) for laser scanner control. This segmentation allows each component to be controlled at its optimal time resolution, with the robot controlled at longer intervals and the laser scanner controlled at shorter intervals, thereby achieving high-precision laser processing without being limited by the robot's slower control performance.
2Device complexity
If the control period for the robot is used for synchronizing the laser scanner, then the system is simpler to implement, but the laser processing precision is limited by the robot's control performance
Solution Approach 1:
The patent implements dynamic control period allocation where the control period is not fixed but varies according to the component being controlled. The robot is controlled at a first control period while the laser scanner is controlled at a second control period that is shorter than the first. This dynamic adjustment of control periods allows the system to achieve high precision laser processing while maintaining manageable system complexity through structured multi-rate control.
Data Source
AI summary
A laser processing robot system including a laser irradiation device that carries out an irradiation point shifting operation, a robot that moves the laser irradiation device, a laser irradiation device controller that controls the irradiation point shifting operation, and a robot controller that controls the robot. When moving the laser irradiation device by the robot, the robot controller instructs the robot on a plurality of first interpolated positions at every first interpolation period, and outputs a command value associated with the irradiation point shifting operation to the laser irradiation device controller at every second interpolation period shorter than the first interpolation period.