Kinematics Analysis and Trajectory Planning of collaborative welding robot with multiple manipulators

摘要

According to the problem of trajectory planning for collaborative welding robot with multiple manipulators which is applied in dual-beam laser welding of aircraft double curved panel, the multi-manipulator kinematics model is constructed based on Devanit-Hartenberg (D-H) method, and the solution of inverse kinematics is deduced through the specific algebraic method. In addition, the motion law of each joint variable is obtained on the basis of the trajectory planning method for the continuous path. Finally, the correctness of inverse kinematics algorithm and the effectiveness of trajectory planning for the modified robot are verified by ADAMS simulation.