基于共享力觉遥示教焊缝辨识策略  

Welding identifying strategy based on sharing control in force tele-teaching

作　　者：刘立君[1] 戴鸿滨[2] 高洪明[3] 吴林[3] 

机构地区：[1]浙江大学宁波理工学院,浙江宁波315100 [2]哈尔滨理工大学材料科学与工程学院,哈尔滨150080 [3]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10期41-44,共4页Transactions of The China Welding Institution

摘　　要：在遥控焊接遥示教过程中,在探针遇到复杂焊缝或焊缝拐点,力觉遥示教自适应控制无法完成时,可通过共享技术完成遥示教。通过建立的基于共享技术遥示教焊缝辨识试验平台,完成操作员和机器人有效协同操作,确保操作模式的平稳转换,并可实时叠加执行控制命令。确定了力觉遥示教共享控制模式,通过系统自动切换的自适应示教与手动调整控制,操作者与远端机器人之间能够有效地实现控制权力的共享。进行了半盒形试件共享遥示教试验,遥示教再现位置精度小于±0.5mm,满足遥控焊接工艺要求。The tele-teaching was achieved by the shared technology in some cases, such as the probe locked by complex curve welding seam, ane turning point. A welding seam identifying plat was founded based on the shared control in tele-teaching. The shared control mainly makes the operator in cooperate with robot to ensure the operating mode to transform smoothly, and the control instruction to superimpose in real-time. Sharing control mode was defined in tele-teaching. The control right between operator and remote robot is effectively shared by self-adjusting teaching and manual adjusting control. Tele-teaching experiment of half-box workpiece on shared control was completed. The experimental results show that the position precision of tele-teaching-playback is less than±0.5 mm, which can meet remote welding process.

关 键 词：遥控焊接 遥示教 力觉 共享技术 焊缝辨识 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]