Path Planning and Computer Simulation of a Mobile Welding Robot

For a mobile welding robot system, we calculate its kinematic and inverse kinematic model based on the D-H method. This paper uses the method of interpolation to do path planning of a mobile welding robot with a 5-DOF arm, and adopt the method to make various welding path simulation. The trajectory planning is a constrained and non-liner implication problem. The modeling and simulation is processed under the environment of MATLAB. When the vehicle is walking across obstacles, it should do the welding at the same time. We must ensure the continuity of the welding process. The whole process is discussed in the paper.