| 摘要: |
| 用于遥控焊接的机器人遥操作系统(welding telerobotics system,简称WTRS)结合了机器人遥操作技术与焊接技术。通过综述基于机器人遥操作的遥控焊接研究最新进展,分析了遥控焊接中存在的主要问题,对基于临场感技术,图形仿真机器人遥操作系统关键技术在焊接中的应用进行了探讨,强调了用于遥控焊接领域的遥操作控制策略和系统体系结构,并探讨了WTRS的研究方向和发展趋势。 |
| 关键词: 遥控焊接 遥操作 人机协作控制策略 临场感 图形仿真 |
| DOI： |
| 分类号: |
| 基金项目: |
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| Review and prognosis of state of arts on remote welding teleoperation |
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LI Hai-chao, WU Lin, GAO Hong-ming, ZHANG Guang-jun
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National Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China
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| Abstract: |
| The welding telerobotics system,which is used for remote welding in unstructured environment,combines the performance of teleoperation technology and welding technology.Firstly,the overview about the research history and the progress of the state of arts on remote welding based on teleoperation is presented.Furthermore,the main problems in performing remote welding tasks are discussed,in which the telepresense technology and graphics simulation technology used in telerobotis system are emphasized especially for using in remote welding field.The human-machine cooperative control strategies and the system architecture are also focused.At last,some research topics and investigation trends and proposed. |
| Key words: remote welding teleoperation human-machine cooperation control telepresence graphics simulation |
