焊缝辨识六维接触力阈值标定技术

焊缝辨识是遥控焊接前提条件之一，以往焊缝辨识主要以图像传感方面研究内容较多，从力觉角度研究焊缝辨识内容较少。由于在六维力传感器前端装有探针，六维力传感器随着焊接机器人进行空间运动，探针的重量对力传感器六维力产生影响，影响焊缝辨识，为此在x—z，y—z平面内，不与焊缝接触时，测试六维力空间变化值，从而确定空间变化六维力盲区。焊缝辨识时六维力传感器与焊缝接触，需要确定引导焊缝辨识六维接触力阈值。并在上述力传感器焊缝辨识六维接触力标定技术的基础上，进行焊缝辨识效率试验。结果表明，力觉焊缝辨识较手工焊缝辨识效率提高60％左右，为快速、准确的焊缝辨识提供条件。

Threshold calibrating of 6D touching force in welding seam identifying

The welding seam identifying(WSI)is one prerequisite for remote welding.The welding seam is usually identified by vision sensor.While the study onWSI based on 6 dimensional (6D) force is less reported.When the 6D force sensor fixed on welding robot moves along with space welding seam, the weight of probe fixed on 6D force sensor will influence on 6D force value of WSI.As 6D force probe does not contact with welding seam, the blind section of 6D force is calibrated in different space position by testing 6D force value in x-z, y-z plane.When 6D force probe contacts with welding seam, the threshold of 6D touching force is calibrated in different space position.The experiment of WSI efficiency is achieved by use of this technologies.The experimental results show that the efficiency of WSI is improved sixty percent comparing with manual WSI.It provides condition for the welding seam identified quickly and exactly.