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系统，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入反馈到操纵者，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基于腕力传感器的双向力控制技术可以很好地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。
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.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
1996年第2期122-127,共6页
Transactions of The China Welding Institution
基金
国防科工委"八五"计划重大预研课题
关键词
焊接
机器人
力觉临场感
s: welding robot, master-slave operation, force telepresence, bilateral foce control
