A General Algorithm of Rotating/tilting Positioner Inverse Kinematics for Robotic Arc Welding Off-line Programming  

作　　者：Jinsong TIAN Lin WU Ming DAI and Yu KONG National Key Laboratory of Advanced Welding Production Technology, Harbin institute of Technology, Harbin 150001, China 

出　　处：《Journal of Materials Science & Technology》2001年第1期161-162,共2页材料科学技术（英文版）

基　　金：This paper was supported by the National Natural Science Foundation of China (No. 59635160) and AdvancedUniversity Doctoral

摘　　要：Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is a major application area, where manual programming is a very tedious job. Off-line programming is a constructive way to solve the problem. The inverse kinematics algorithm of robot and positioner is the foundation of the off-line programming system. Although previously there were some researchers who studied the positioner inverse kinematics algorithm, they only focused on a special solution of the positioner inverse kinematics, which is the solution at down-hand welding position. However, in welding production, welding position other than down-hand position is also needed. A method for representing welding position was introduced. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented.Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is a major application area, where manual programming is a very tedious job. Off-line programming is a constructive way to solve the problem. The inverse kinematics algorithm of robot and positioner is the foundation of the off-line programming system. Although previously there were some researchers who studied the positioner inverse kinematics algorithm, they only focused on a special solution of the positioner inverse kinematics, which is the solution at down-hand welding position. However, in welding production, welding position other than down-hand position is also needed. A method for representing welding position was introduced. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented.

分 类 号：TG40[金属学及工艺—焊接]