Motion Control of Welding Robot Based on ADAMS and ACR-9000

Yong Zhong Du; Xue Liang Ping; Lu Gang Chen; Wei Bin Xu

doi:10.4028/www.scientific.net/AMR.542-543.789

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 542-543Motion Control of Welding Robot Based on ADAMS and...

Motion Control of Welding Robot Based on ADAMS and ACR-9000

Abstract:

Based on some relevant theories of robotics such as trajectory planning, the forward and inverse kinematics solutions and DH convention, this paper proposes a new approach towards testing the physical prototype. The approach sets up a 3-D model for a 6-DOF welding robot , works out the simulation results of expected processing trajectory planning for six rods in MATLAB, verifies the trajectory simulation results with the built-in Robot Toolbox of MATLAB, And controls the robot to draw a circle with the ACR9000 motion controller.

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Periodical:

Advanced Materials Research (Volumes 542-543)

Pages:

789-794

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.542-543.789

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Online since:

June 2012

Authors:

Yong Zhong Du, Xue Liang Ping, Lu Gang Chen, Wei Bin Xu

Keywords:

Adam, MATLAB, Motion Control, Simulation, Welding Robot

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