Track planning of 6R robot and its application to welding

摘要

The characteristics of track planning in joint coordinates space and Cartesion coordinates space were analyzed. The simulation algorithm of track planning was presented and the simulation analysis was conducted. Aiming at the welding of IVECO automobile crossbeam, the track planning of robot was carried out. The planned track is smooth and continuous without any dithering and halt, thus normal job of robot may be ensured. The result of planning demonstrates that the adopted method is correct.