崔鲲, 孙论强, 吴林. V01弧焊机器人运动学反解及臂形标志的确定[J]. 机器人, 1997, 19(6): 444-449.
引用本文: 崔鲲, 孙论强, 吴林. V01弧焊机器人运动学反解及臂形标志的确定[J]. 机器人, 1997, 19(6): 444-449.
CUI Kun, SUN Lunqiang, WU Lin. INVERSE KINEMATICS AND DETERMINATION OF ARM CONFIGURATIONS SIGNS FOR V01 ARC WELDING ROBOT[J]. ROBOT, 1997, 19(6): 444-449.
Citation: CUI Kun, SUN Lunqiang, WU Lin. INVERSE KINEMATICS AND DETERMINATION OF ARM CONFIGURATIONS SIGNS FOR V01 ARC WELDING ROBOT[J]. ROBOT, 1997, 19(6): 444-449.

V01弧焊机器人运动学反解及臂形标志的确定

INVERSE KINEMATICS AND DETERMINATION OF ARM CONFIGURATIONS SIGNS FOR V01 ARC WELDING ROBOT

  • 摘要: 为了对V01弧焊机器人深层次的开发,需要首先剖析其运动学模型,求解反臂形问题.本文利用几何解法,针对V01弧焊机器人建立了相应的逆运动学算法,解决了求解臂形标志问题,从而为V01弧焊机器人的离线编程打下了基础.

     

    Abstract: In order to exploit V01 arc welding robot deeply,the kinematics model need analysizing and the inverse problem of arm configurations need solving. In the paper,the geometry method is used to introduce the inverse kinematics algorithm and solve the problem of arm configurations signs for V01 arc welding robot.The whole work is the basement of off-line programming for V01 arc welding robot.

     

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