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利用机器人末端执行器空间位置坐标和三点定圆法则标定了Vol弧焊机器人的结构参数.该方法具有操作简单、精度高、通用性强等特点.在此基础上进一步建立了机器人关节坐标变换矩阵,为研究Vol弧焊机器人的运动学问题奠定了基础.
The structure parameters of Vol arc welding robot are calibrated by using the spatial position coordinates of the end effector of the robot and the three-point rounding rule. The method has the advantages of simple operation, high precision and versatility, and further establishes the robot joint coordinate transformation Matrix, which laid the foundation for studying the kinematics of Vol arc welding robot.