INVERSE KINEMATICS AND DETERMINATION OF ARM CONFIGURATIONS SIGNS FOR V01 ARC WELDING ROBOT
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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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Keywords:
- Welding robot /
- inverse kinematics /
- arm configurations signs
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1 (美)付京逊,机器人学.中国科学技术出版社,1989
2 Instruction Manual for Articulated Type Arc Welding Robot.DA IHEN Corporation,1990
3 马香峰.机器人机构学.机械工业出版社,1991
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