Puma-robot evaluation for laser manufacturing applications

Raimo Soudunsaari, Valeri Veshnikov

Research output: Book/ReportReport


Combinations of the flexibility of industrial robots and the many advantages of laser technology are becoming increasingly common. An industrial robot can manipulate an object under a laser beam during, for example, welding, cutting or heat treatment. Properties of a Puma robot were investigated with a view to its possible incorporation into a laser-robot system. The following properties were measured; robot arm flexibility, inaccuracy of the robot and the gripper, vibrations during movement, overshoot in linear interpolation movement, repeatability etc. The flexibility of the robot arm was 0.5...0.7 mm when a load of 2 kg was attached to the gripper. The overshoot was slight at small velocities and 0.45...0.65 mm at the velocity of 200 mm/s, when the gripper was driven into a point in different directions. The repeatability of the robot was usually +/-0.07...0.11 mm. The maximum value was +/-0.14 mm. Vibrations during gripper movement cause more difficulties in laser manufacturing than errors in repeatability. The laser-robot system can be used in industrial applications where high precision is not necessary. The application area of the robot-laser system increases, when more accurate robots are developed.
Original languageEnglish
Place of PublicationEspoo
PublisherVTT Technical Research Centre of Finland
Number of pages52
ISBN (Print)951-38-3251-1
Publication statusPublished - 1988
MoE publication typeNot Eligible

Publication series

SeriesValtion teknillinen tutkimuskeskus. Tiedotteita


  • robots
  • lasers
  • manufacturing


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