A Study on Flexible Automation of a Laser Semicutting System using the Path Control of Manipulator

매니퓰레이터의 궤적 제어를 이용한 레이저 부분 절단 시스템의 유연한 자동화에 관한 연구

This paper proposes an automatic microshaping technology using laser and applies it to implementation of semicutting control system of the panel inside which a car air bag is equipped. Since it is impossible to project laser directly onto the desired working point of a target panel due to fixedness of laser generator, we reflect the generated laser, using reflection mirrors and focusing lenses, to project onto the desired working point. Also, in order to conduct an uniform semicutting control with constant width and depth, we control the end-effector of manipulator, which grasp the laser reflection mirror, to track working path with constant speed and orientation. The validity and effectiveness of the proposed methods are checked through experiments tracking a path formatted with straight lines and arcs.