Recently, the rapid development of the car manufacturing in China has promoted the requirement of painting robots. The structure design and control of painting robots are the problems to be solved urgently. This dissertation studied the structure and control system of the 6 dof painting robot. The following works and achievements have been completed:
1. The wrist’s coordinate system was built up by D-H method. On the basis of kinematics analysis of the wrist, the wrist’s workspace was drawn by...
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