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

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.