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Abstract: An
algorithm of general 2R(rotation) positioner inverse kinematics is
presented. According to the model of the welding position, giving a weld
seam point, the weld orientation then can be resolved from the weld
rotation angle and the weld slope angle. Symbolic are used to represent
the positioner’s link parameters and the orientation matrix between the
robot and the positioner. The kinematics coordinate systems are
established , the formula of 2R positioner inverse kinematics is
derived. The simulation experiment results show that this algorithm can
improve the ability of robotic arc welding off-line programming system
to program all types of welding positions . This algorithm can also be
used when the positioner is placed differently.
Key words: Positioner
Inverse kinematics Welding position
CLC No: TG409
总装备部十五预研资助项目(41318.5.1.2). Received
20050712, received in revised form 20050925
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