Robot Workspace Reconstructing Solving Method Based on Image Engine
Research and application of spatial multi-joint robot become hot point in recent years. In this paper, a practical arc welding robot produced by ABB is selected as research subject, separate essential structural parameters of it, establish coordinate frame of link as well as D-H parameter list, analyze its forward kinematics and get position vector of the end-effector. Then, visual model is created to checkout rationality of the forward kinematics analysis. Finally, workspace reconstruction based on DirectX is raised. When researchers compare robot workspace simulation based on Monte Carlo method with our new method, the latter has the feature of modelling and digitization, which lays a foundation of designing arc welding robot efficiently and steadily.
The Research about Prescribed Workspace for Optimal Design of 6R Robot
Based on the D-H notation, 
kinematics model and inverse kinematics model of 6R industrial robots are 
established. Using graphical method, the boundary curve equations of the 6R 
industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is 
proposed. Using the genetic algorithm to determine the structural dimensions of 
a 6R robot, we make sure that its workspace can exactly contain the prescribed 
workspace. This method can be used to reduce the overall size of the robot, 
save materials and reduce the power consumption of the robot during its work 
time.
Solution Joint Robot Work Space Based on Pro/E
A new method to solve the work spaces of robots based on Pro/E was proposed,by solving the work spaces of ABB’s IRB1600ID mini welding robot with this method,it is showed the method has a good effect.