力觉遥示教姿态几何平面法

J4 ›› 2008, Vol. 19 ›› Issue (18): 0-2146.

• 材料工程 •

力觉遥示教姿态几何平面法

刘立君1;戴鸿滨2;高洪明3;吴林3

收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2008-09-25 发布日期:2008-09-25

Geometry Arithmetic on the Tele-teaching Pose Based on Force Sensing

Liu Lijun1;Dai Hongbin2;Gao Hongming3;Wu
Lin3

Received:1900-01-01 Revised:1900-01-01 Online:2008-09-25 Published:2008-09-25

摘要/Abstract

摘要：

提出基于力觉搜寻焊接坡口遥示教点方法和力觉遥示教姿态几何平面法，并给出利用遥示教姿态几何平面法计算遥示教工作角α和行走角β的方法。实验表明：基于力觉遥示教工作

角α_f 和行走角β_f较手工示教工作角α_h和行走角β_h误差小，误差分布较均匀，通过做平均值滤波处理，误差在
±4°范围内，满足遥控焊接遥示教精度要求，其中建立的数学模型和实验数据，为遥示教姿态自适应调整奠定了基础。

关键词: 力觉；遥示教；姿态；几何平面法

Abstract:

The way of searching welding groove tele-teaching point based on force sensing was presented, and the geometry arithmetic of the tele-teaching pose(GATP) based on force sensing was introduced.The calculation of tele-teaching working angle and traveling angle using GATP was given.The experimental results show that the errors of working angle and traveling angle of tele-teaching based on force sensing is smaller
than that of working angle and traveling angle of the manual tele-teaching,and spread evenly.After they are filtered,the average error of tele-teaching pose angle is less than
±4° that can meet the precision of tele-teaching in remote welding.The given theoretical model and experimental data set up the groundwork to the tele-teaching pose self-adjusting.

Key words: force sensing;tele-teaching;pose;geometry arithmetic

中图分类号:

TP274

刘立君;戴鸿滨;高洪明;吴林;. 力觉遥示教姿态几何平面法[J]. J4, 2008, 19(18): 0-2146.

Liu Lijun;Dai Hongbin;Gao Hongming;Wu Lin. Geometry Arithmetic on the Tele-teaching Pose Based on Force Sensing[J]. J4, 2008, 19(18): 0-2146.

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力觉遥示教姿态几何平面法

Geometry Arithmetic on the Tele-teaching Pose Based on Force Sensing

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