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| 基于共享力觉遥示教焊缝辨识策略 | |
| 引用本文： | 刘立君,戴鸿滨,高洪明,吴林.基于共享力觉遥示教焊缝辨识策略[J].焊接学报,2007,28(10):41-44. |
| 作者姓名： | 刘立君 戴鸿滨 高洪明 吴林 |
| 作者单位： | 1. 浙江大学,宁波理工学院,浙江,宁波,315100;哈尔滨理工大学,材料科学与工程学院,哈尔滨,150080 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 |
| 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±0.5 mm,满足遥控焊接工艺要求. |
| 关 键 词： | 遥控焊接 遥示教 力觉 共享技术 焊缝辨识 力觉 遥示教 焊缝 辨识策略 force control sharing based strategy 工艺要求 位置精度 示教再现 试验 试件 控制权力 远端 操作者 调整控制 手动 自适应 |
| 文章编号： | 0253-360X（2007）10-041-04 |
| 收稿时间： | 2006/11/25 0:00:00 |
| 修稿时间： | 2006-11-25 |
Welding identifying strategy based on sharing control in force tele-teaching |
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| LIU Lijun,DAI Hongbin,GAO Hongming and WU Lin.Welding identifying strategy based on sharing control in force tele-teaching[J].Transactions of The China Welding Institution,2007,28(10):41-44. | |
| Authors: | LIU Lijun DAI Hongbin GAO Hongming and WU Lin |
| Affiliation: | Ningbo Institute of Technology, Zhejiang University, Ningbo 315100, Zhejiang, China;School of Material Science & Engineering, Harbin University of Science and Technology, Harbin 150080, China,School of Material Science & Engineering, Harbin University of Science and Technology, Harbin 150080, China,State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China and State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China |
| Abstract: | 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. |
| Keywords: | remote welding tele-teaching force shared technology welding identifying |
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