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主从式焊接机器人力觉临场感技术
引用本文:吴威,蔡鹤皋,吴娟,林韧卒.主从式焊接机器人力觉临场感技术[J].焊接学报,1996,17(2):122-127.
作者姓名:吴威  蔡鹤皋  吴娟  林韧卒
作者单位:哈尔滨工业大学,中国人民银行哈尔滨分行,牡丹江大学
基金项目:国防科工委“八五”计划重大预研课题
摘    要:以PUMA562作为焊接机器人建立了具有力觉临场感的主从焊接试验,利用从机器人焊炬前面安装探针与焊缝接触形成的力感觉由主机器人反馈到操纵者,使操纵者借助于监视设备和力觉临场感来实现远距离遥控焊接。试验表明:在主从焊接系统中采用于腕力传感器的双向力控制技术可以得好解决操纵者因电视监视设备受燃弧影响视觉的问题,使主从焊接系统在遥操作时有了“手感”以进一步提高焊缝跟踪的准确度。

关 键 词:焊接  机器人  力觉临场感
收稿时间:1995/10/6 0:00:00
修稿时间:1996/2/10 0:00:00

Telepresence Technology of Master-slave Welding Robot
Wu Wei,Cai Hegao,Wu Juan and Lin Yinzhu.Telepresence Technology of Master-slave Welding Robot[J].Transactions of The China Welding Institution,1996,17(2):122-127.
Authors:Wu Wei  Cai Hegao  Wu Juan and Lin Yinzhu
Affiliation:Harbin Institute of Technology,Harbin Institute of Technology,People''s Bank of China, Harbin and Mudanjiang University
Abstract:A force telepresence system, consisting PUMA562 as its welding robot, has been built The force created by the probe touching the seam is fed back to the operator through the slave robot. The operator can teleoperate the welding system with the monitoring equipment and force telepresence. The master-slave system adopting bilateral force. control based on wrist force sensor can solving the problem that the television monitoring equipment is influenced by the welding arc. The feeling can be had in the master-slave system as it is teleoperated, and the accuracy of weld tracing is thus improved.
Keywords:s: welding robot  master-slave operation  force telepresence  bilateral foce control  
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