Solving the Forward Kinematics Problem for a Welding Manipulator With Six Degrees of Freedom
The article proposes a solution of the forward kinematics problem for a welding manipulator with six degrees of freedom. Solving this problem is the first necessary step in creating a control system for this manipulator. This will make it possible to determine the displacement, accelerations and moments in each of the manipulator parts and will ensure accurate positioning of the welding tool.