Welding Robot Kinematics Analysis and Trajectory Planning
Abstract: Taking PR1400
welding robot as the research object, the structure and link parameters are analyzed
and the standard Denavit-Hartenberg method is applied to establish the
coordinate system. Then the robot kinematics is analyzed. Matlab Robotics
Toolbox is used to build the model and trajectory planning simulation. Thus
continuous smooth joints angular displacement, angular velocity, angularacceleration
curve and the end motion trajectory curves of PR1400 robot are obtained.
Besides, the simulation can allow researchers to avoid kinematics analysis and
computational errors, and thereby the robot kinematics analysis and trajectory
planning problem are more simple and reliable. The above researches can provide
a theoretical basis for PR1400 welding robot trajectory planning in the
practicalapplication.
Keywords: Denavit-Hartenberg,
Matlab, kinematics analysis, PR1400 welding robot, trajectory planning
Author: Li Jingwei, Tong Yifei,
Wu Shaofeng, Tan Qingmeng, Li Dongbo
Journal Code: jptkomputergg160081
