魏秀权, 李海超, 高洪明, 吴林. 基于机器人力控制表面跟踪的遥控焊接虚拟环境标定[J]. 机器人, 2008, 30(2): 102-106.
引用本文: 魏秀权, 李海超, 高洪明, 吴林. 基于机器人力控制表面跟踪的遥控焊接虚拟环境标定[J]. 机器人, 2008, 30(2): 102-106.
WEI Xiu-quan, LI Hai-chao, GAO Hong-ming, WU Lin. Virtual Environment Calibration for Remote Welding Based on Surface Tracking with Robot Force Control[J]. ROBOT, 2008, 30(2): 102-106.
Citation: WEI Xiu-quan, LI Hai-chao, GAO Hong-ming, WU Lin. Virtual Environment Calibration for Remote Welding Based on Surface Tracking with Robot Force Control[J]. ROBOT, 2008, 30(2): 102-106.

基于机器人力控制表面跟踪的遥控焊接虚拟环境标定

Virtual Environment Calibration for Remote Welding Based on Surface Tracking with Robot Force Control

  • 摘要: 提出了基于机器人力控制表面跟踪的遥控焊接虚拟环境标定方法.采用基于力觉传感器坐标系横切面轮廓线的力控制策略对工件表面进行跟踪,并精确测量接触点的空间位置.通过椭圆跟踪轨迹直接最小二乘拟合算法和T形管工件标定算法,解决了T形管工件的虚拟环境标定问题.实验结果表明,该方法可以实现高精度的虚拟环境标定,虚拟环境模型精度能够满足以被动柔顺方式完成遥控焊接接触任务的需要.

     

    Abstract: A method of virtual environment calibration for remote welding based on surface tracking with robot force control is proposed.The force control strategy for surface tracking is based on the transection contour of force sensor coordinate system,and spatial locations of the contact points are measured precisely.The problem of virtual environment calibration for T-pipe part is solved with the direct least square fitting algorithm of elliptic tracking trajectory and the T-pipe part calibration algorithm.Experimental results show that the presented method can realize virtual environment calibration with high precision,and the virtual environment model accuracy can meet the requirements of remote welding contact task with passive compliance.

     

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