Robot-assisted laser additive manufacturing system and control method thereof

The invention discloses a robot-assisted laser additive manufacturing system and a control method thereof, and belongs to the technical field of additive manufacturing. By jointly controlling the positioner and the mechanical arm to move, the printing unit at the tail end of the mechanical arm is placed on a printing plane or the surface of a formed part in the whole machining process and is perpendicular to a point on a composite filament to be deposited; the situation that a cable of a control element at the tail end of the mechanical arm is twisted and broken due to the fact that joint rotation exceeds the rotation angle range is effectively avoided, and meanwhile collision between a printing unit and a formed part is prevented. The requirement for controlling the printing unit at the tail end of the mechanical arm to continuously move to any point on the part subjected to additive manufacturing is met, the forming continuity of the composite filaments is guaranteed, the strength and surface precision of t