Abstract
Focusing on welding problems such as poor working environment, high pressure, appalling conditions in oil and gas pipelines, pressure vessels and other large welding, a 6R welding robot was proposed. Based on D-H notation, space kinematics model of robot was founded and the kinematical equations of the grinding robot wad derived. According to the kinematics model, The robot work space was obtained by Monte Carlo methods. Furthermore, control and software system was introduced for the arc welding robotic system.
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