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Modeling of a Robotic Arm for the Application of Welding Processes

Abstract:

Through this work, it is expected to contribute to the development and research of industrial robots with different welding processes used in the productive industry in our country, in order to shorten the gap between global technological innovation and knowledge, thus improving the level of same. In the welding process, with the development of the control algorithm based on the kinematic model of the manipulator, it is also expected to provide information simple enough for people interested in further studying these topics. The algorithm is a method developed using numerical knowledge and linear algebra. The results obtained by running the algorithm are tested in simulations, graphs and determination of zero convergence errors in different tasks assigned to the robot (robotic arm).