Design Of Welding Robot System And Study On Robot Calibration Methods

Firstly,the body and control system of six-dimensional welding robot are designed.The control system structure and the main hardware of the control system are designed.The means of communication between the major hardware and the design of electrical diagram in the control cabinet are given.The control software designed for the six-dimensional welding robot has high reliability and good foundation for expand functionality.Secondly,the welding robot kinematics model is designed using D-H modeling method.MDH modeling method is used to complete robot error modeling for industrial robot calibration problems.Simulations are conducted to verify the accuracy of the model.Thirdly,the experiment which is calibrated on the basis of the error model,optimizes the geometric parameters on behalf of robot kinematics model through standard ball calibration and direct calibration method has been made.The general robot error compensation methods is briefly introduced,completing the test of robot absolute positioning accuracy after calibration the experimental data.