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Kalman filter of the force signal of identifying weld seam in remote teaching |
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| Authors: | Liu Lijun Zhu Ronghua Zhang Guangjun Gao Hongming Wu Lin |
| Affiliation: | 1. State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin,150001;Ningbo Institute of Technology, Zhejiang University, Ningbo, 315100;College of Material Science and Engineering, Harbin University of Science and Technology, Harbin, 150040 2. College of Material Science and Engineering, Harbin University of Science and Technology, Harbin, 150040 3. State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin,150001 |
| Abstract: | For reasons of the vibration of robot, the rough surface of weld seam and electromagnetic disturbance of welding machine, the force signals of identifying weld seam become unstable. The position error of remote teaching point is too big to meet teaching requirements in remote welding. The force signals of identifying weld seam can be filtered by Kalman. The force signals of identifying weld seam of next teaching point is accurately predicted according to predicting algorithms, such as the equation of the state, the equation of the observation, the gain matrix of the filter and the covariance matrix of predicting state. The experimental results show that the precision of identifying weld seam is improved by Kalman filter. |
| Keywords: | remote teaching Kalman filter identifying weld seam force signal |
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