Kinematics Simulation of Welding Manipulator Based on V-REPPRO EDU

Abstract

Abstract As the primary tool in modern industrial welding, 6 DOF manipulator robots can weld in all positions. In this context, Danevit-Hartenberg parameters were developed to simplify kinematics equations for manipulator equations. Inverse kinematics is obtained based on the algebraic method. Simulation of kinematics manipulators based on V-REP PRO EDU is present. Kinematics simulations produce processing motion and relevant kinematics curves. The simulation results and kinematic equations of robotic manipulators are compared, showing that valid kinematic equations and weld trajectories can be passed by the end-effector successfully.