Algorithms and programs for automatic basing on a robotic milling processing complex

The article presents a solution to the problem of quickly setting up the working coordinate system of a robotic machining complex in a dynamically changing range of machined products. The system of equations, the algorithm for calculating the position and orientation of the working coordinate system of the part relative to the initial coordinate system of the robot, as well as their implementation in the form of an automatic locating program for two technological equipment are described. The program is written in the Kuka Robot Language for the KUKA KR90 R3100 robot with a Renishaw OMP-40 touch sensor and includes the steps for the dialog selection of technological equipment and the number of the measured base, as well as the corresponding automatic measurement of points of base surfaces, calculation of the values of linear and angular position parameters working coordinate system and recording the obtained values into the corresponding variables of the robot control system. In addition, approaches to setting up postprocessors for preparing control programs based on the use of CAM environments are described. The proposed solutions in the form of control programs and a customized postprocessor are successfully used in production when processing carbon fiber products.