Patent ID: 8450642

Claim:
An operating head of a redundant axes laser machine, comprising a movable structure controlled by actuators and operating according to a first set of variables (X, Y, Z, A), including cartesian axes (X, Y, Z), said operating head operating according to a second set of variables (W, B, C), said first set of variables (X, V, Z, A) and second set of variables (W, B, C) identifying one or more redundant variables, comprising: a base rotatably associated to a movable structure of a redundant axes laser machine around a first axis (A) comprised in said first set of variables (X, Y, Z, A), a rotating body rotatably supported by the base rotatable around a second axis (B) perpendicular to said first axis (A), a terminal body provided with an operating end, which is supported by the rotating body movable along the direction of the above-said second axis (B), a first motor to control the rotation of the rotating body around said second axis (B), and a second motor to control the movement of the terminal body along said second axis (B), said redundant axes machine comprising a control unit to control said actuators of the movable structure and motors of the operating head and a servo control module to carry out trajectories of said variables in function of a set sequence wherein said control unit is configured to move the operating end along a second trajectory while the movable structure is moved along a first trajectory, said second set of variables (W, B, C) includes also a translation along said third axis (C), and said operating end is mounted on said terminal body so that is able to translate along said third axis (C) perpendicular to said second axis (B), said operating end being movable with respect to said terminal body along a direction parallel to the third axis (C), and in that said head comprises also a third motor to move said operating end along said third axis (C).