Numerical solution of the inverse kinematics and trajectory planning for an all-position welding robot
GUO Jichang, ZHU Zhiming, WANG Xin, MA Guorui
Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Abstract：Versatile welding robots designed for the field welding of box-type steel structures have the problems of low DOF (degree of freedom) and DOF coupling. A numerical solution method was developed for the inverse kinematics of the robot based on the layouts of actual welding processes to solve difficulties encountered in analytic methods. The numerical solution leads to a trajectory planning method based on the recursive algorithm to adjust the position and posture of the welding torch to realize smooth adjustments and transitions of the welding torch during welding of the right-angle turning point of the box-type steel structures. This approach provides trajectory planning for the all-position welding of box-type steel in an automatic algorithm that is applicable to different sizes of box-type steel structures.
郭吉昌, 朱志明, 王鑫, 马国锐. 全位置焊接机器人逆运动学数值求解及轨迹规划方法[J]. 清华大学学报（自然科学版）, 2018, 58(3): 292-297.
GUO Jichang, ZHU Zhiming, WANG Xin, MA Guorui. Numerical solution of the inverse kinematics and trajectory planning for an all-position welding robot. Journal of Tsinghua University(Science and Technology), 2018, 58(3): 292-297.
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2018, Vol. 58 
