Abstract: An algorithm of general 2R(rotation) positioner inverse kinematics is presented. According to the model of the welding position, giving a weld seam point, the weld orientation then can be resolved from the weld rotation angle and the weld slope angle. Symbolic are used to represent the positioner’s link parameters and the orientation matrix between the robot and the positioner. The kinematics coordinate systems are established , the formula of 2R positioner inverse kinematics is derived. The simulation experiment results show that this algorithm can improve the ability of robotic arc welding off-line programming system to program all types of welding positions . This algorithm can also be used when the positioner is placed differently.

Key words: Welding position, Inverse kinematics, Positioner