Kinematics Analysis and Trajectory Planning of collaborative welding robot with multiple manipulators

被引：21
|
作者：
Liu, Xuemei [1 ]
Qiu, Chengrong [1 ]
Zeng, Qingfei [1 ]
Li, Aiping [1 ]
机构：
[1] Tongji Univ, Sch Mech Engn, Shanghai 210804, Peoples R China
来源：
52ND CIRP CONFERENCE ON MANUFACTURING SYSTEMS (CMS) | 2019年 / 81卷
基金：
国家重点研发计划;
关键词：
multiple manipulators; inverse kinematics; trajectory planning; laser welding;
D O I：
10.1016/j.procir.2019.03.247
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to the problem of trajectory planning for collaborative welding robot with multiple manipulators which is applied in dual-beam laser welding of aircraft double curved panel, the multi-manipulator kinematics model is constructed based on Devanit-Hartenberg (D-H) method, and the solution of inverse kinematics is deduced through the specific algebraic method. In addition, the motion law of each joint variable is obtained on the basis of the trajectory planning method for the continuous path Finally, the correctness of inverse kinematics algorithm and the effectiveness of trajectory planning for the modified robot are verified by ADAMS simulation. (C) 2019 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：1034 / 1039
页数：6
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