Inverse Kinematic Analysis of a 5DOF Gantry Type Welding Robot

In this study, a gantry type welding robot having three prismatic and two rotational joints was used. By creating the kinematic diagram of this robot in Cartesian space its inverse kinematic equations were obtained. Denavit Hartenberg rules defining the movement of one-link relative to another, were applied in drawing the kinematic diagram. The D-H method provides great easiness in forward and inverse kinematics calculations. With this method, the D-H parameters table to be used in kinematic calculations was created and inverse kinematic equations were obtained. Using inverse kinematic equations, the known position and orientation of the robot's end effector and the parameters of the position and orientation of each link were obtained. All these kinematic calculations were performed with a user interface software (GUI) prepared in Microsoft Visual Studio C# program. In this software, Mach3 program was also used as an assistant to control the motors with the position and orientation information obtained for each motor. In this way, a smooth welding application in the desired position and orientation is aimed.