Welding Seams Tracing System On Robot And Its Kinematics Research

Arc-welding robot and its seam auto tracking are the hotspots in welding automation research. An arc-welding robot system and its Seams Visual Tracking system (SVT) are analyzed. The forward kinematics analysis (FKA) and inverse kinematics problem (IKP) are solved, and verified by simulated software of MATALB.The image detecting and extracting method of SVT are researched, and the control process based on information of visual feedback is described. Then, a C++ 6.0 dialog box program,which is the most powerful programming tool in WINDOWS environment,is developed for image extract. It can set and debug the processing and extracting parameters,watch extracted pictures in the dialog program.It is required to solve IKP when the extracted seam position information is used to calibrate the trajectory of End-effecter. Using the results of IKP, robot may drive each articulation to move to its destination. Using preposition D-H coordinate method,the FKA is deduced at first. Then, in virtue of the specific structure of the robot, the IKP solution is decoupled into position solution and attitude solution. In process of solving attitude solution, the tool of Z-Y-Z Euler angles'is intruduced. At last, the mulit-solution of IKP is analyzed.Finally,the position and attitude verification both FKA and IKP are simulated by MATLAB,also by the GUI software tool. Via inputting in edit box, the GUI can output and show the single FKA solution. Also via inputting in edit box,a spatial welding seam generated by a mathematic curve is given,the continuous IKP solution is linked as a trajectory to display the solution of each articulation.The method and results of this paper is also a reference to similar robots or spatial mechanisms.