Adaptive laser robot based on serial transport robot and independent manipulator of optics

Abstract

The paper presents the structure and the description of the laser-robot, constructed on the basis of the serial transport robot and kinematics of the independent manipulator, connected to it by independent manipulator of optics. The distributed adaptive control system provides work of the robot in conditions of uncertainty and unstationarity of objects of processing, force-and-moment unloading, cooling of rejecting mirrors and submission of gases in a zone of processing.