Kinematics Simulation of Six-axis Welding Robots based on MATLAB
A six-axis welding robot conforming to Pieper criterion was taken as the experimental object,and its D-H pa-rameters were determined by using SDH(Standard-Denavit-Hartenberg)method,and corresponding joint coordinate system and D-H model were created.The kinematics simulation was carried out based on robot toolbox 10.4 version in MATLAB software.The forward and inverse kinematics of the robot were analyzed and solved by using the homogeneous transforma-tion matrix and analytic method,and the rationality of the robot kinematics modeling was verified.The trajectory planning and optimization were completed in MATLAB,and the algorithm was optimized,differentiated and analyzed.Linear pro-gramming and joint space programming were adopted respectively about programming way.The motion trajectory was trea-ted by quintic interpolation function,cubic interpolation function and uniform velocity optimization.By comparing before and after optimization through the above test,the angular velocity and angular acceleration curves had no sudden change and were zero when reaching the point,and the obtained end-effector trajectory was neat and smooth,which fully proved the sta-bility of the motion performance of the optimized welding robot.
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