Open Access. © 2020 K. Kurc et al., published by Sciendo. This work is licensed under the Creative Commons Attribution- NonCommercial-NoDerivatives 4.0 License Mechanics and Mechanical Engineering 2020; 24:36ś41 Research Article Krzysztof Kurc*, Andrzej Burghardt, Dariusz Szybicki, Piotri Gierlak, Wojciech Łabuński, Magdalena Muszyńska, and Józef Giergiel Robotic machining in correlation with a 3D scanner https://doi.org/10.2478/mme-2020-0003 Received Nov 28, 2019; accepted May 13, 2020 Abstract: The article presents an original method of com- munication and data exchange in a robotic machining sta- tion consisting of two robots, a positioner and a 3D op- tic scanner. The task of one of the robots, equipped with a 3D optic scanner, was to receive point cloud of a detail (mould) attached to the positioner table. After detail digi- talisation, the received point cloud was adjusted to (com- pared with) a model detail in the form of a CAD fle in the Atos Professional software. In the software, casting mate- rial excesses were received in places selected on the detail. Values of the excesses and their coordinates were saved in the script and sent to the robot controller using TCP/IP protocol. The other of robots, equipped with the force con- trol addition and the option of obtaining various process- ing tools, received sent excess and its coordinates. The other robot adjusted the processing parameters to random excesses, the value of which was received from measure- ments of the optic scanner of the frst robot. Keywords: Robot, scanner 3D, robotic machining, commu- nication, automatic processing *Corresponding Author: Krzysztof Kurc: Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszow, Poland; Email: kkurc@prz.edu.pl Andrzej Burghardt: Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszow, Poland; Email: andrzejb@prz.edu.pl Dariusz Szybicki: Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszow, Poland; Email: dszybicki@prz.edu.pl Piotri Gierlak: Rzeszow University of Technology, Faculty of Me- chanical Engineering and Aeronautics, Rzeszow, Poland; Email: pgierlak@prz.edu.pl Wojciech Łabuński: Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszow, Poland; Email: w.labunski@prz.edu.pl Magdalena Muszyńska: Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszow, Poland; Email: magdaw@prz.edu.pl 1 Introduction Communication and data exchange between devices is currently one of the crucial stages of robotic stations de- sign and construction, according to the idea of industry 4.0, as an umbrella term meaning integration of smart de- vices and systems and implementing changes into produc- tion processes in order to increase the production capac- ity and introduce fexible options. Cutting and grinding are examples of processes which require shared commu- nication of numerous station elements in a way, so that information exchange is quick and uninterrupted. Exem- plary reviews of robotic cutting may be found in Łygas and Danilczuk [1] and Song et al. [2]. Algorithms controlling force and their utilisation in processes are found in Refs [3ś 6]. Technological parameters’ super vision and commu- nication between many robots have been described in Refs [7ś9]. Numerous authors use various communication protocols in their works, Profbus [10ś12] and TCP/IP [13ś 17]. To use the necessary network, various programming languages may be used. Increasingly popular is Python [18ś20], that is utilised, for example, in robotic applica- tions [21]. Grinding process improvement may also be ob- tained using CAD/CAM models [22] or laser scans [23ś25]. Laser systems equipped with triangulation for quick mea- suring of blades are presented in the Ref. [26]. 3D laser sys- tems measuring blade geometry and comparing it to the model detail in order to manage robotic machining are in- cluded in the Ref. [27], while utilising GOM brand 3D scan- ner to measure blade geometry during control, servicing and repairs is presented in the Refs [28, 29]. None of the aforementioned papers contain informa- tion on obtaining and sending information between Atos Core 135 optic scanner and robot controller in an automatic mode for the purpose of path adaptation and adjustment. Józef Giergiel: Institute of Technology State University of Applied Sciences in Nowy Sącz, Nowy Sącz, Poland; Email: jozef.giergiel@gmail.com