Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University ›› 2015, Vol. 49 ›› Issue (03): 318-322.

• Metallography and Metallurgical Technology • Previous Articles     Next Articles

Mathematical Modeling and Workspace Analysis of Visual Tracking Robot for Welding

HE Jingjie1,WANG Su1，2,MIAO Xingang1，2   

  1. (1.School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;2a. School of Electrical Engineering and Information Technique, b. School of MechanicalElectronics and Automobile Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China)
  • Received:2014-07-31 Online:2015-03-30 Published:2015-03-30

Abstract:

Abstract： This paper describes a space robot modeling method. The main idea is to shift the moving coordinate system to the working point of the robot by following the mechanisms and joints. The robot was modelled to get the forward kinematics results and then simulated in Matlab. By analyzing the robot workspace with numerical method, the isometric view and profile of the workspace were obtained. The simulation experiments show that the mathematical modeling method is effective. The result of workspace analysis shows that the workspace is big enough without hole, which meets the demand of tracking. The motion tracking test on curve in space with the physical prototype is satisfactory.

Key words: visual tracking, welding robot, mathematic model, workspace analysis

CLC Number: