A Motion Planning Model of Automobile Welding Robot
A welding robot, robot motion technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of optimizing performance and improving processing speed
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[0039] In the motion planning model of the present invention, the automobile welding robot is defined as a tree-shaped automobile welding robot whose rigid body is assembled by joints, that is, the body is a node and the joint is an edge; the motion planning model includes a displacement control variable q (t), which is called the configuration, the parameter vector of the joint is the control variable of the motion planning model, and q(t) is abbreviated as q, and the allowable function q needs to satisfy the following equation of motion with physical meaning EoM :
[0040]
[0041] = where the subscript r represents the automobile welding robot, the subscript j represents the joint, and the M r Represents the inertia of the automotive welding robot, B r Indicates the influence factor brought by the gravity and speed of the automobile welding robot, M j represents the inertia of the joint, B j Indicates the influence factor brought by the gravity and speed of the joint,...
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