遥控焊接力觉仿人智能参数校正级控制研究

通过分析遥控焊接过程机器人与工件接触力误差目标轨迹，在遥控焊接力觉仿人智能运动控制级控制基础上，建立了遥控焊接力觉仿人智能参数校正级控制基元集合、特征模型、多模态控制和多目标推理决策规则．实验表明，通过遥控焊接仿人智能力觉参数校正级控制，能减小焊接力觉实际相轨迹与理想相轨迹误差，使焊接操作者产生较好的力觉临场感效果，增强对遥控焊接复杂任务的操作能力，提高遥控焊接质量．

Human-simulated Intelligent Parameter-adjusting Level Control of Force Sensing in Remote Welding

By analyzing the contacting force error target track between the welding robot and workpieee, the basic control cells, characteristic model, multi-model control and multi-target decision-making rules of human-simulatod intelligent parameter-adjusting level control of force sensing are establisbed based on human-simulated intelligent running level control of force sensing in remote welding. The experimental results show that the contacting force error between real phase track and ideal phase track can be reduced by human-simulated intelligent parameter-adjusting level control of force sensing in remote welding, which makes the operator possess a better force telepresence, enhance the ability of controlling complex welding processes, and improve the remote welding quality.