An automated path planning system for a robot with a laser scanner for remote laser cutting and welding

Remote laser beam welding (RLW) and remote laser beam cutting (RLC) are technologies that are well suited for automated applications in industrial facilities due to their contactless mode of action. The main advantages of both processes are the high operation speed, good process quality and a tailored contour of the welding seams and cutting kerfs. For an optimal use of these processes the laser beam has to be guided accurately over the work piece. A common technical realization of such processes is the combination of a laser beam deflection unit, a laser scanner and an industrial robot. This setup represents a programming challenge, as the six degrees of freedom of the robot plus the two degrees of freedom of the laser scanner lead to a kinematic redundant system. However, the advantages of this combination, the large robot workspace and the fast and precise motion of the laser scanner make it a very attractive technology for improvement of welding and cutting processes. An automated programming system for the described setup is presented in this paper.