The Operation Algorithm of the Control System for the Wire Feeding and Positioning Module for the Robotic 3D Printing Complex

The paper deals with the development of an algorithm for the operation of a local control system for a wire feed and positioning module for a robotic complex for three-dimensional metal printing. The disadvantages of selective laser melting technology are shown. The use of the Direct energy deposition process technology based on an industrial robotic arm is proposed. The kinematics of the wire feed and positioning module is described. The structure of the module's local control system is described. Algorithms for the operation of the local control system have been developed. When developing the algorithms, the technical and software features of the control system of the 3D printing robotic complex were taken into account. Specialized program libraries are selected and a system of commands is described to ensure interaction between the local control system of the wire feed module and the control system of the robotic complex. A mathematical model for calculating the parameters for positioning the wire relative to the laser beam has been developed.