【摘要】 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.更多还原

【Abstract】 This paper makes the use of coordinates of the robot s terminator and 3-Points-Circle algorithm to calibrate the structure parameters fro V01 welding robot. This method is convenient ,accurate and general. The transfer matrix of joint for the robot is erected also which creates the basement of kinematics for V01 welding robot.更多还原