Kinematic analysis and simulation of saddle-back coping welding robot

[1] 姚杰.机器人在焊接相贯线时的无碰撞轨迹规划[J].机械工程与自动化,2006, 27:73-74 Yao Jie. Collision-free trajectory planning in 3-D space for welding robot[J]. Mechanical Engineering ＆ Automation, 2006,27:73-74(in Chinese)  [2] 霍孟友,岳少剑,王新港.复杂相贯线接缝自动焊接的运动控制算法[J]. 焊接学报,2006, 27(12):9-12 Huo Mengyou, Yue Shaojian, Wang Xingang. Movement control algorithm of automatic welding for complex intersection seam[J]. Transactions of the China Welding Institution,2006,27(12):9-12(in Chinese)  [3] 陈强,路井荣,孙振国,等.弧焊机器人焊炬姿态规划系统的研究[J].中国机械工程,2002,13(11):956-958 Chen Qiang, Lu Jingrong, Sun Zhenguo, et al. Study on torch pose planning system for arc welding robot[J]. China Mechanical Engineering, 2002,13(11):956-958(in Chinese)  [4] 陈志翔,卢振洋,殷树言,等.焊缝位姿及焊枪位姿的模型[J].机械工程学报,2003,39(7):59－62 Chen Zhixiang, Lu Zhenyang, Yin Shuyan, et al. Models of weld pose and welding gun pose[J]. Chinese Journal of Mechanical Engineering, 2003,39(7):59-62(in Chinese)  [5] Maekawa Hitoshi, Yamamoto Katsushi, Nakata Shuji. Torch trajectory generation along weld line in off-line programming system of arc welding robot[J]. Yosetsu Gakkai Ronbunshu/Quarterly Journal of the Japan Welding Society, 1989, 7: 102-109  [6] Ventzas D E. Computer control software for pipe line construction industry[J]. Modelling, Measurement & Control B, 1994, 53:1-11  [7] Li W, Jaschek H, Wloka D. Modification of the roberts- algorithm for the graphical animation of robots[J]. Robotersysteme, 1990, 6:76-80  [8] Zhang Hua. Study of pedrailed intelligent arc welding robot system[J]. Robot Technique and Application, 2002(1):13-16  [9] Jiang Lipei. Flexible magnetic wheel type intelligent welding robot for spherical tank[J]. Chinese Journal of Mechanical Engineering, 2002(2):173-176  [10] 吴林,孔宇.焊接位置与焊丝方位定义的讨论及几何建模研究[J]. 机械工程学报,1997,33(5):49-53 Wu Lin, Kong Yu. Definition and geometric model of welding position and torch orientation[J]. Chinese Journal of Mechanical Engineering,1997,33(5):49-53(in Chinese)