positioner

The concept of motion planning for welding positioner is discussed, and the mathematical model of rotating/tilting positioner under the downhand welding position is created.

对接位机运动规划的任务进行了分解,建立了旋转倾斜接位机使待点处于最佳接位时的数学模,并编制了求解程序,对空间螺旋缝进行了模拟。