A Kinematics Algorithm And Laser Processing Experiment Of Staubli Industrial Robot

This paper mainly proposes the acquirement about the process of laser cladding with Staubli six-axis industrial robot.Firstly,this paper discusses the basic problem of kinematics of industrial robots—the inverse problem of position and orientation,and puts forward an analytical algorithm.Different from the all-pervading DH Fourth-order matrix algorithm,this article introduces two third order matrix equations using geometry method.One equation describes the end position of robot,and the other describes the end orientation of robot.The advantage of this algorithm is that the geometric meaning is more clear.Besides,because of the third order matrix is Chieftain matrix,its inverse matrix is its device matrix.That is more convenient to calculate.Secondly,on the basis of successfully solving the inverse problem of robot position and orientation,the analytical solution of the inverse problem of velocity is obtained.The inverse velocity problem of robot consists of inverse problem of linear velocity and inverse problem of angular velocity.For the inverse problem of linear velocity,the analytical solution is obtained by using the method of time derivation.For the inverse problem of angular velocity,the analytical solution is obtained by using the method of the original vector decomposition principle.Thirdly,considering that industrial robots are rarely used alone in practical engineering,they often hold different operate tools.Therefore,on the basis of successfully solving the inverse problem of position and velocity,this paper takes the laser head used in practical work as an example,obtains the solution of the robot holding a operate tool,which bring the research closer to the need of engineering practice.The position and velocity solutions calculated by the above method are compared with those obtained from the actual operation of the Staubli robot,which verifies the correctness of the algorithm.Finally,two typical laser cladding cases of robot are listed.One is the case of laser cladding on the surface of a ball valve.The other is the case of laser cladding of the intersecting line on a Shaft.The practical significance of the algorithm is that the model of industrial robot is abstracted to a mathematical model,so the robot engineer can solves the inverse problem of robot without the robot entity,and carry out an off-machine solution.This is not only take effect in the previous project investigation,parameter selection,feasibility analysis when specific model of robot have not yet been purchased,but also in the pose debugging,velocity debugging and singularity analysis when the specific model robot has been purchased.Mastering the algorithm of kinematics of robots will be useful to robot engineers who debug the position and velocity of robot in production field.