TF-1型弧焊机器人的运动学建模研究

Research on Kinematics Modeling of TF -1 Arc Welding Robot

对机器人操作机进行运动学建模是机器人控制和运动规划的必要前提。利用TF-1型弧焊机器人的结构特点,运用一种新的求取逆解的方法,得出了该机器人运动学正、逆解析解。该方法避免了大量的逆矩阵相乘,简化了求取运动学逆解的过程,而且所得的解表达式简单,便于机器人的仿真和快速准确控制。仿真结果证明了该方法的有效性。

Constructing the kinetics model of a robot manipulator is the prerequisite of robot control and motion programming. By using the structural characteristics and a new inverse algorithm, the kinematical normal and inverse analytic solutions are calculated. As a lot of multiplication operations of inverse matrices are avoided, the course of deduction is simplified. Moreover, the expression of the solution is simple so it is convenient for the robot simulation and the fast and precise robot control.