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The transfer of coordinates of three-dimensional CAD models in the space of a workpiece in a machining robotic complexes


A.B. Lyukhter – Ph. D. (Eng.), Adviser, Voronezh State University E-mail: M.Yu. Zvyagin – Ph. D. (Phys.-Math.), Associate Professor, Voronezh State University E-mail: A.S. Golubev – Ph. D. (Eng.), Associate Professor, Department «Physics and Applied Mathematics», Voronezh State University E-mail: D.V. Rodionov – Post-graduate Student, Department «Physics and Applied Mathematics», Voronezh State University E-mail:

In the development and implementation of robotic systems for laser welding (LWS) for engineering production in the Engineering center at the Vladimir state University named after Alexander Grigorievich and Nikolai Grigorievich Stoletovs, we developed a special application software (SAS) control system (CS) LWS. The idea of SAS CS KLS, was to reduce the distance between digital product design in the computer aided design (CAD) and its manufacture. When creating this CAD system, the following problems arose: migration of three-dimensional coordinates of the model and tool angles at the points of welding paths with the coordinate system of the robot. determining the coordinate value of the rotation around the axis of the tool, providing a focus position triangulation sensor on the alleged joint parts ahead of the welding point To solve the above problems, developed a mathematical method for mapping coordinates of the model and the coordinates of the robot described in this article.


  1. Serija robotov FANUC. KONTROLLER R-J3iC. ARC TOOL. Rukovodstvo operatora. B-82284RU-3/01. 1638 s.
  2. Fu K., Gonsales R., Li K. Robototekhnika: Per. s angl. M.: Mir. 1989. 624 s.


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