The section-steel deformation's measure and compensation in the lining-cutting robot system

摘要

The Lining-Cutting Robot System is a novel robot system, and it's merits are the robot system can automatically program off-line according to different section-steels, and its measure and compensation subsystem can measure and compensate 3D deformations and position errors of section-steel. The paper mainly introduces the subsystem, including its control architecture, its work principle, and its compensating methods on section-steel's deformation. The subsystem uses three brimsensors to measure the deformation of section-steel's brim in X-Y plane. For measuring the deformation in Z direction, the subsystem uses a height-sensor and an arc-voltage sensor. By compensating on-line and off-line, the contact between the plasma-torch and the section-steel can be avoided, and the arc-voltage can be stable. The development of the subsystem is useful to the design of a flexible product line, which needs to measure and compensate the workpiece's position or deformation.