Research on Numerical Control of the Mobile Robotic Machine Tool

We have established a mobile robotic machine tool (MRMT) based on Numeric Control (NC), which can be used for the manufacturing of large structural parts. The direct control of robot joint motor is realized by using standard NC system. In order to achieve higher precision, accurate calibration of robot link, direct real-time measurement and closed-loop position control of robot joint angle is realized in this machine. As a component, Laser tracker is also integrated in the system. The experiment shows that the current system achieves good results in trajectory repeatability, positioning accuracy and manufacturing processing.