摘要
首先对PR1400焊接机器人进行结构分析,建立其数学模型。然后针对焊接机器人实际工作中不同的焊接任务需求,在笛卡尔空间对PR1400焊接机器人进行直线轨迹和圆弧轨迹规划。最后结合轨迹规划要求,设计出一种快速的轨迹生成方法。
h establishes the structure of PR1400 welding robot and the mathematical model, analyzes planes the linear trajectory and circular according to the different requirements of welding robot in practical work and Carte- sian space. Combining the trajectory planning requirements, it presents a method of joint trajectory generation for PR1400 welding robot based on Cartesian space. The proposed method can strive to successfully complete the welding task.
作者
李精伟
童一飞
谭清锰
吴绍锋
李东波
LI Jingwei TONG Yifei TAN Qingmeng WU Shaofeng LI Dongbo(Institute of Mechanical Engineering, Nanjing University of Science and Technology, Jiangsu Nanjing, 210094, China)
出处
《机械设计与制造工程》
2017年第5期27-30,共4页
Machine Design and Manufacturing Engineering
基金
江苏省产学研前瞻性联合研究项目(BY2015004-05)
江苏省六大人才高峰资助项目(2015-ZBZZ-006)
