焊接机器人在线示教  

Welding robot on-line teaching

作　　者：吴威[1] 赵杰[1] 王晓东[1] 吴桂满[1] 

机构地区：[1]哈尔滨工业大学,黑龙江大学

出　　处：《焊接学报》1995年第1期16-19,共4页Transactions of The China Welding Institution

摘　　要：本文就焊接机器人在线示教方面进行了研究，当机器人处于零力控制状态下，操作人员（焊工）可以牵引机器人末端的焊枪对工件施焊。机器人实时记录整个示教轨迹及各种焊接工艺参数后，机器人根据这些在线参数就能准确再现这一焊接过程，对缩短示教周期，提高焊接质量具有实际意义。This paper focuses on welding robot on-line teaching. Operator (welder)can pull thewelding torch at the end of the robot and process welding openition freely, while the robot is in the state of zero-force controlling.After the robot have taken the records of the teaching track and the welding parameters,the robot can replay the welding process according to theabove recorded parameters precisely.It is of momentous practical significance to reduceteaching period and increase welding quality.

关 键 词：机器人 在线示教 焊接 零力控制 

分 类 号：TG409[金属学及工艺—焊接]