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.
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
.
DOI: 10.1007/s12204-014-1477-7
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