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用微分几何的理论和Ｄ－Ｈ法完成了２Ｒ－３Ｐ２Ｒ双臂机器人用于空间曲面工件焊接的速度协调和加速度协调的研究，导出了由工艺给定的焊速求解各关节运动速度和加速度的计算公式。
Using the theory of differential geometry and D-H method, the research on the coordination of the speed and the coordination of the welding of the space surface workpiece by the 2R-3P2R two-arm robot is completed. The welding speed given by the process is derived and the velocity and acceleration of each joint are solved Calculation formula.