Abstract
A robot used for industrial spot welding is a 4-DOF serial mechanism, it can be applied to some special industries. There are multi via points known in path, each joint value can be accurately solved by the inverse kinematics. The quintic polynomial interpolation was adopted between each two adjacent desired via points, the continuous trajectory is formed in accordance with the time course. The simulation model is developed using SimMechnics, the movement parameters and path are obtained by simulating, the simulation results indicate that the motional parameters and path can be accurately and effectively obtained for robot analysis and design.
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