The robot forward parameters 'matrix and the inverse expressions are studied for J-Groove welding robot, the robot kinematics simulation is realized by Matlab software, which provide the data for controlling the robot motors. 针对J型坡口焊接机器人,建立其运动学正解的参数矩阵和运动学逆解的表达式,采用Matlab软件实现焊接机器人运动学仿真,为焊接机器人电机的控制提供参考数据。
The design robot answers completely for the J-Groove welding and achieves satisfying effect by welding experiment. 经焊接实验,所设计的机器人完全满足J型坡口焊接的要求,取得了满意的效果。