遥控焊接遥示教力学模型  

Dynamic Model on Teleteaching in Remote Welding

作　　者：刘立君[1] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,黑龙江哈尔滨150001

出　　处：《机器人》2006年第2期187-190,共4页Robot

基　　金：国家十五预研资助项目(41318.5.1.2)

摘　　要：在遥控焊接遥示教过程中,为实现遥控焊接微观局部自主示教,建立了遥控焊接坡口起焊段、收弧段、焊接坡口和焊接坡口示教过程的接触力力学模型.通过示教过程力学模型,判断六维力各力状态是否有突变,根据突变判断探针在坡口中的实际位置区域,进一步根据六维力大小确定探针具体位姿,从而得出遥控焊接坡口搜寻算法、坡口截面和坡口底确定算法、坡口起焊点和收弧点搜寻算法.上述控制算法提高了遥控示教精度和效率.In order to carry out local autonomous tcleteaching in remote welding, this paper develops the groove touch force models for welding groove start and end sections, welding groove section, and welding teleteaching section. The position and attitude of the force sensor probe is calculated out by the sharp changes of six-dimensional force based on the dynamic models during teleteaching. The groove search algorithm is put forward, including groove position, groove section, groove bottom, groove start and end. The efficiency and playback precision of teleteaching in remote welding are improved by the control algorithm.

关 键 词：遥控焊接 力学模型 遥示教 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]