Optimal Posture Searching Algorithm on Mobile Welding Robot

doi:10.1007/s12204-014-1477-7

Journal of shanghai Jiaotong University (Science) ›› 2014, Vol. 19 ›› Issue (1): 84-87.doi: 10.1007/s12204-014-1477-7

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Optimal Posture Searching Algorithm on Mobile Welding Robot

ZHANG Tao* (张涛), CHEN Shan-ben (陈善本)

(Intelligentized Robotic Welding Technology Laboratory, Shanghai Jiaotong University, Shanghai 200240, China)
(Intelligentized Robotic Welding Technology Laboratory, Shanghai Jiaotong University, Shanghai 200240, China)

Online:2014-01-15 Published:2014-01-15
Contact: ZHANG Tao (张涛) E-mail:taurus509@163.com

Abstract

Abstract: An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model, both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.

Key words: mobile welding robot| kinematics model| posture searching algorithm

摘要： An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model, both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.

关键词: mobile welding robot| kinematics model| posture searching algorithm

CLC Number:

TG 409

ZHANG Tao* (张涛), CHEN Shan-ben (陈善本). Optimal Posture Searching Algorithm on Mobile Welding Robot[J]. Journal of shanghai Jiaotong University (Science), 2014, 19(1): 84-87.

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Optimal Posture Searching Algorithm on Mobile Welding Robot

Optimal Posture Searching Algorithm on Mobile Welding Robot

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