The method of the automation of the plasmotron movement by six-axis robotic manipulator

The article presents a method for automating the creation of trajectories of the plasmatron motion by a six-axis robotic manipulator. The automation system was created on the basis of an industrial robot from KUKA. The automation of the creation of trajectories of the plasmatron over the surface of the part is implemented as follows: the trajectory of the plasmatron is created in a graphic editor in the .dwg format. The created file is loaded into the CAM program for CNC machines. A CAM program converts a vector or an area specified by vectors into a control command in g-code format, which is then converted to KRL by a program written in the Python programming language. The development of the program consisted of two stages: the creation of rectilinear movements and the creation of curvilinear movements. The result of the method is presented.