Adaptive control system for automated honeycomb filler cutter

This article presents the results of control system development оf an automated complex for cutting honeycomb or cellular filler, which consists of several modules performed on various software and hardware platforms and combined into a single system. On the control computer, the following are implemented: an interface module, a planning and control module written in the C ++, and a machine vision module written in the Python. The KUKA controller has a module for communication with a computer and a movement module written using the Kuka Robot Language. The interface module is required to interact with the operator, the planning and control module, and the robot information exchange module. The planning and control module performs the functions of generating sequence of elementary operations and moving points, compiling control programs and executing them. The machine vision module, using a machine vision camera, takes a series of images of the workpiece, by which the boundaries of the workpiece are identified, the edges of the cellular filler are recognized, and the coordinates of the optimal cut points are calculated.