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从应用工程的角度提出了用双臂机器人进行焊接作业，以提高焊接质量的观点，提出了与之相应的２Ｒ－３Ｐ２Ｒ型双臂机器人系统，建立了机械臂坐标系、工件坐标系和作业点坐标系，描述了在焊接作业过程中焊枪相对于作业点坐标系的相对位姿。
From the point of view of application engineering, this paper presents a 2R-3P2R two-arm robot system with dual-arm robots for welding operation to improve the welding quality. A robot arm coordinate system, a workpiece coordinate system and a working point The coordinate system describes the relative pose of the welding torch relative to the coordinate system of the work point during the welding operation.