基于焊接位置数学模型的变位机逆运动学算法  

INVERSE KINEMATICS OF 2R POSITIONER BASED ON WELDING POSTION REPRESENTATION

作　　者：何广忠[1] 高洪明[1] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《机械工程学报》2006年第6期86-91,共6页Journal of Mechanical Engineering

基　　金：总装备部十五预研资助项目(41318.5.1.2)。

摘　　要：给出了一种通用的2R变位机的逆运动学算法。根据焊缝位置的数学模型,得到了描述焊缝焊接位置的参数——焊缝转角和焊缝倾角与焊缝姿态的关系。以符号的形式表示了变位机的杆件参数及变位机与机器人间的姿态关系。建立了运动学坐标系,推导了满足焊缝转角和焊缝倾角要求的变位机逆运动学公式。该算法解决了不同焊接位置和变位机相对机器人不同安装位置的变位机逆运动学求解,大大地提高了离线编程系统的适用性。An algorithm of general 2R（rotation） positioner inverse kinematics is presented. According to the model of the welding position, giving a weld seam point, the weld orientation then can be resolved from the weld rotation angle and the weld slope angle. Symbolic are used to represent the positioner＇s link parameters and the orientation matrix between the robot and the positioner. The kinematics coordinate systems are established, the formula of 2R positioner inverse kinematics is derived. The simulation experiment results show that this algorithm can improve the ability of robotic arc welding off-line programming system to program all types of welding positions. This algorithm can also be used when the positioner is placed differently.

关 键 词：变位机 逆运动学 焊接位置 

分 类 号：TG409[金属学及工艺—焊接]