Abstract:robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of "large scope of traversing", "triangle movement of two arms" and "spherical movement of one arm" was realized. The model of "triangle movement of two arms "is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the… Show more
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