Integration of plasma processing and robotic path planning

A computer-implemented method for planning a processing path relative to a three-dimensional workpiece by a plasma arc cutting system coupled to a robotic arm, the method comprising:

• receiving, by a computing device, (i) input data from a user comprising data for specifying at least one desired part to be processed from the three-dimensional workpiece, (ii) data related to the plasma arc cutting system and (iii) data for controlling the robotic arm, wherein the computing device is in electrical communication with a library of cut charts that provide different combinations of operating parameters for different processing types;
• intelligently selecting, by the computing device, based on the user input data and the data related to the plasma arc cutting system at least one suitable cut chart from the library of cut charts to process the at least one desired part from the three-dimensional workpiece, wherein the suitable cut chart specifies a set of process settings for configuring the plasma arc cutting system;
• generating, by the computing device, a processing path about the three-dimensional workpiece in a first simulation by adapting the selected cut chart to a three-dimensional environment, including compensating for influences on plasma arc dynamics introduced during three-dimensional processing;
• refining, by the computing device, the processing path from the first simulation in a second simulation by adding a sequence of motions for manipulating the robotic arm while the robotic arm emits a plasma arc from the plasma arc cutting system to process the at least one desired part from the workpiece, wherein the sequence of motions is generated using the data for controlling the robotic arm;
• and
• causing, by the computing device, actuation of at least one of the robotic arm or the plasma arc cutting system in accordance with the processing path from the second simulation to process the desired part on the workpiece.

A computer-implemented expertise integration system for planning a processing path relative to a three-dimensional workpiece, the expertise integration system being in electrical communication with a plasma arc cutting system coupled to a robotic arm, the expertise integration system comprising:

• a computing device having a memory that stores programmatic instructions and a processor that executes the programmatic instructions to:
• receive input data from a user comprising (i) Computer-Aided Design (CAD) data for specifying at least one desired part to be processed from the three-dimensional workpiece, and (ii) one or more desired parameters for operating the plasma arc cutting system;
• identify a plurality of features of the at least one desired part to be formed on the three-dimensional workpiece based on the CAD data;
• dynamically filter a library of cut charts based on the plurality of features and the desired operating parameters to determine at least one recommended cut chart for processing the plurality of features, wherein the recommended cut chart comprises a set of recommended process settings for the plasma arc cutting system;
• generate the processing path based on the recommended cut chart and the plurality of features to be formed, wherein the processing path plans motion of a plasma arc emitted from the plasma arc cutting system coupled to the robotic arm to process the plurality of features from the workpiece, the plasma arc cutting system being modeled using a set of one or more consumables selected based on the recommended cut chart, and wherein the planned motion of the plasma arc accounts for influences in plasma arc dynamics introduced to the plasma arc from operating the robotic arm in a three-dimensional environment;
• and
• cause to actuate at least one of the robotic arm or the plasma arc cutting system in accordance with the processing path to process the desired part on the workpiece.