Numerical solution of the inverse kinematics and trajectory planning for an all-position welding robot

doi:10.16511/j.cnki.qhdxxb.2018.21.006

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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.

Keywords welding robot box-type steel structure inverse kinematics numerical solution trajectory planning

ZTFLH:

TP242.3

Issue Date: 15 March 2018

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	GUO Jichang
	ZHU Zhiming
	WANG Xin
	MA Guorui

Cite this article:

GUO Jichang,ZHU Zhiming,WANG Xin, et al. Numerical solution of the inverse kinematics and trajectory planning for an all-position welding robot[J]. Journal of Tsinghua University(Science and Technology), 2018, 58(3): 292-297.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2018.21.006 OR http://jst.tsinghuajournals.com/EN/Y2018/V58/I3/292

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