Logical control of the robotic system for sheet stamping of titanium alloys

The article deals with the mathematical modeling of the system of robotics control of the titanium forgings stamping for helicopter rotor blades by means of finite-state machines. The use of this mathematical apparatus has allowed us to present a single control logic for controlling a robotic system consisting of a number of interacting subsystems that perform a common task. We have proposed an approach describing the logic of dispatching control, planning and responding to errors during operation in the form of a finite-state-machine network of all subsystems of the robotic system at the stage of its design and development of the stamping technological process. The article studies the structure of the system for robotics control, including the automated equipment for sheet metal stamping, a device for radiation heating of forgings, a stock feeder, a device for receiving finished products and an industrial robotic manipulator.