RV12L-6R焊接机器人动力学分析及计算机仿真研究

提出用Lagrangian方法与递推的Newton-Euler方法相结合求解机器人逆动力学问题，以满足实时控制的要求。结合IVECO汽车横梁的焊接，给出了实用的机器人动力学算法，并对6自由度机器人各关节力矩进行了动态仿真，仿真结果表明不同的关节初始值，有时会出现关节力矩突变，引起系统振动。因此，可以通过计算机仿真的方法在选择关节初始值时避开不稳定的情况。

Dynamics Analysis and Computer Simulation of RV12L-6R Welding Robot

In order to satisfy the requirement of the real time control, the dynamics equation that combines Lagrangian method and recursion Newton Euler method to solve inverse dynamics is proposed. The trajectory plan of welding robot is made for the purpose of realizing the predefined track by using the joint space method and Cartesian space method. The real time simulation is given. The results reveal that the different initial angular of joints may lead to the discontinuity acceleration of joints and cause the system to vibrate. Finally, a practical method to avoid the unstable situation is suggested.