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Structured light vision is now widely used in weld seam detection for arc welding robot due to its simple structure, high precision, low cost, and real-time characteristic. By taking use of optical triangulation measurement principle, the position of welding seam is able to be measured. Calibration is one of the crucial step before structured light vision can be actually used in the welding system...
This paper proposes an analytical approach to solve inverse kinematics of a 6-DOF robot. The robot discussed here is designed with 6R configuration. The D-H model of the six-axis robot is built. The forward analytical solution is deduced using the D-H method. Then, analysis of inverse kinematics for the robot is presented. And finally, the validity of the inverse kinematic equations is verified. Forward...
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