遥控焊接力觉遥示教点间变迁控制技术  

Transition control between two tele-teaching points based on force sensing in remote welding

作　　者：刘立君[1] 高洪明[2] 吴林[2] 

机构地区：[1]哈尔滨理工大学材料科学与工程学院,哈尔滨150040 [2]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《焊接学报》2007年第1期57-60,共4页Transactions of The China Welding Institution

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。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 F_z 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.

关 键 词：遥控焊接 遥示教 力觉 点间变迁 摩擦力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]