Inflection point identifying of weld seam based on force sensing in tele-teaching

Weld seam inflection points are inevitable in tele-teaching process on many welding occasions.The inflection points identified accurately is one of the prerequisites of ensuring tele-teaching precision.On the basis of the inflection point characters,the concept of inflection point direction coefficient is proposed,the human-simulation intelligent control model of inflection point is established.The algorithms above,the inflection point identifying of box workpiece can be well performed.The experimental results show that the identifying average error of inflection point can be reduced to less than 0.5 mm by using optimal treatment of robot off-line programming system.The identifying control can automatically identify weld seam inflection points which can meet tele-teaching requirements.