Pose Planning for the End-effector of Robot in the Welding of Intersecting Pipes

• 作 者: LIU Yu ZHAO Jing LU Zhenyang C
• 机 构: CollegeofMechanicalEngineeringandAppliedElectronicsTechnology
• 出 处: 中国机械工程学报
• 发表日期: 2011年2期
• 关键词: 管道焊接机器人 特种机器人 相贯线 规划 姿态 焊接工艺性能 空间曲线 数学模型 pose planning robot all-position weld
• 基金项目: supported by National Nautural Science Foundation of China（Grant No.50775002）, Key Science and Technology Research Program of Beijing Municipal Commission of Education of China（Grant No.KZ200910005003

<正>All-position robots are widely applied in the welding of complicated parts.Welding of intersecting pipes is one of the most typical tasks.The welding seam is a complicated saddle-like space curve,which puts a great challenge to the pose planning