| 摘要: |
| 在遥控焊接力觉遥示教过程中,为实现遥控焊接自主遥示教,需要对遥示教点间状态变迁技术进行基础研究。根据焊缝辨识模型,确定示教点位置,通过共享技术调整好示教点的姿态,辨识记忆好第一个焊缝示教点,向下一个示教点变迁控制,主要包括示教点z方向变迁控制和示教点在xSy平面内方向变迁控制。并对摩擦力对遥示教点间变迁影响进行分析,证明了摩擦力的存在会在xSy平面内减小机器人进给计算量,在z方向使Fz增加,但是在遥示教自适应控制准许范围内,不会影响焊缝辨识逻辑。通过遥示教变迁控制技术,实现了遥示教点间自动变迁,为自主遥示教创造条件。 |
| 关键词: 遥控焊接 遥示教 力觉 点间变迁 摩擦力 |
| DOI： |
| 分类号: |
| 基金项目: |
|
| Transition control between two tele-teaching points based on force sensing in remote welding |
|
LIU Li-jun1,2, GAO Hong-ming2, WU Lin2
|
|
1.School of Material Science and Engineering, Harbin University of Science and Technology, Harbin 150080, China;2.State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China
|
| Abstract: |
| In order to realizing autonomous tele-teaching in remote welding, the transition control between two tele-teaching points was developed.The first tele-teaching point can be calculated by welding seam identifying model and sharing technology.From first tele-teaching point to next one, the transition control in z direction and xSy plane is studied.By analyzing the influence of friction force on the transition direction, the friction will decrease the robot feeding in xSy plane and increase Fz in z direction.But it is in range permitted by tele-teaching, and has not influence on welding seam identifying.The automatic transition control is implemented.It creates conditions for the autonomous tele-teaching. |
| Key words: remote welding tele-teaching force sensing transition control between two tele-teaching points friction force |
