以Motoman SSF-2000机器人为基础，开发出激光快速成形/修复系统。在机器人上集成了高精度送粉系统、视觉监视系统、惰性气体保护系统，能够实现零件的高精度成形及修复。控制系统采用MotoCom32通信接口实现计算机与机器人的通信，对激光快速成形/修复系统全工艺参数进行计算机集成控制，保证激光加工过程自动化运行。简单零件的成形与修复通过示教盘的示教编程实现，复杂零件成形与修复过程通过读取解析AutoCAD的DXF文件，获取用户设计的曲线信息，并将曲线离散为满足精度要求的多线段。通过机器人程序与计算机同步协调工作，实现运动轨迹的不断更新，从而完成复杂曲线的激光连续加工。实验表明该系统可以出色地完成高精度的零件成形及修复过程。

A laser solid forming/repairing system is developed based on Motoman SSF-2000 robot where high-precision robot powder feeding system, real-time vision system and inert gas protection system are integrated altogether and high-precision forming and repairing process can be achieved. The computer communicates with the robot by utilizing MotoCom32 communication interface to control all the processing parameters about the automation of the laser processing operation. When a simple part is formed or repaired, the system programs by the way of controlling teaching plate. When a complex part requires forming or repairing, the control system reads the DXF file produced by AutoCAD which records the geometric information of the curve, and calculates the curve to a large number of short lines to meet the accuracy requirement. By the real-time communication between computer and the robot, the control system can update the motion trail data. Experiments show that the system can complete the processing of laser solid forming and repairing excellently.