A general algorithm of rotating/tilting positioner inverse kinematics for robotic arc welding off-line programming

Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic are welding. An are wel ding system with a robot and a rotating/tilting positioner is a major appli cation area, where manual programming is a very tedious job. Off-line progr amming is a constructive way to solve the problem. The inverse kinematics a lgorithm of robot and positioner is the foundation of the off-line programm ing system. Although previously there were some researchers who studied the positioner inverse kinematics algorithm, they only focused on a special so lution of the positioner inverse kinematics, which is the solution at down- hand welding position. However, in welding production, welding position oth er than down-hand position is also needed. A method for representing weldin g position was introduced. Then a general algorithm of rotating/tilting pos itioner inverse kinematics is presented.