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.
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Foundation item: the National High Technology Research and Development Program (863) of China (No. 2009AAA042221) and the Fund of Shanghai Sciences & Technology Committee (No. 11111100302)
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Zhang, T., Chen, Sb. Optimal posture searching algorithm on mobile welding robot. J. Shanghai Jiaotong Univ. (Sci.) 19, 84–87 (2014). https://doi.org/10.1007/s12204-014-1477-7
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DOI: https://doi.org/10.1007/s12204-014-1477-7