Abstract：In order to carry out local autonomous teleteaching in remote welding,this paper develops the groove touch force models for welding groove start and end sections,welding groove section,and welding teleteaching section.The position and attitude of the force sensor probe is calculated out by the sharp changes of six-dimensional force based on the dynamic models during teleteaching.The groove search algorithm is put forward,including groove position,groove section,groove bottom,groove start and end.The efficiency and playback precision of teleteaching in remote welding are improved by the control algorithm.
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