RV12L 6R 焊接机器人运动学正解及计算机仿真系统

Forward Kinematic Solution and Computer Simulation of RV12L 6R Welding Robot

本文给出了６ＤＯＦＲＥＩＳ焊接机器人运动学正解的解算方法，从图形学的角度进行机器人工作空间计算，然后对其实施三维图形仿真．为机器人运动学仿真系统用三维形体表示机械手复杂的位置、姿态信息，提供１种实用的方法．可给转位工作台的设计安装提供依据，使之在机器人工作空间内．这里给出实例验证了运动学解的正确性．

This article presents an accurate numerical algorithm of 6 DOF manipulator forward kinematic solution. Based on the solution of positions and poses of the actuator, the workspace and boundaries of swept geometric entities is simulated. It presents a practical method for using three dimension entities to show the complex information for position and pose of actuator. The design and installation of worktable become convenient. The paper also gives an example to verify the theory.