The section-steel deformation's measure and compensation in the lining-cutting robot system

The lining-cutting robot system is a novel robot system which can be automatically programmed off-line according to different section-steels, and its measurement and compensation subsystems can measure and compensate 3D deformations and position errors of the section-steel. The paper introduces the subsystem, including its control architecture, work principle, and compensation methods on section-steel deformation. The subsystem uses three brim-sensors to measure the deformation of section-steel's brim in X-Y plane. For measuring the deformation in Z direction, the subsystem uses both a height-sensor and arc-voltage sensor. By compensating online and off-line, the contact between the plasma-torch and the section-steel can be avoided, and the arc-voltage can be made stable. The the subsystem developed is useful for the design of a flexible product line which needs to measure and compensate the workpiece position or deformation.