机器人遥控焊接虚拟环境标定实验研究

Experiments on Virtual Environment Calibration for Robotic Remote Welding

摘要: 通过标定精度影响因素分析实验，得出了机器人遥控焊接虚拟环境标定系统的一组最佳实验参数．分别针对3种不同焊缝类型工件进行虚拟环境标定实验，完成了虚拟环境中机器人模型和工作环境模型之间位姿关系的标定任务．实验结果表明，虚拟环境标定系统达到了较高的定位精度，可以满足遥控焊接过程中局部自主焊接准备工作的需要．

Abstract: Based on the analysis experiments which focus on the factors influencing calibration accuracy,a group of optimal parameters for robotic remote welding virtual environment(VE) calibration system are acquired.With respect to three kinds of parts with different seams,the pose relationship between robot model and worksite model is calibrated in VE calibration experiments.The experimental results show that the system can obtain a high localization precision to meet the requirements of preparation for locally autonomous welding during remote welding process.