Kinematics Analysis and Simulation of Two-Robot Coordination in Welding

摘要：

　　This paper focus on two-robot coordinated welding process of complex spatial curve seam.A two-robot coordinated system is builded,kinematics analysis is given,and trajectory planning based on downhand welding constrains is provided.After that,a simulation platform based on OpenGL and VC++ is established.Finally,take the intersection curve seam of two cylinder for example,a motion simulation of two-robot coordinated welding is conducted.The results of simulation verify the correctness of kinematics analysis and the method of trajectory planning.

关键词： Coordinated welding Trajectory planning Motion simulation

作者: Nianfeng Wang Feiyue Zhang Xianmin Zhang

作者单位: Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou 510640, Guangdong,People’s Republic of China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 237-248

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）