Abstract：By analyzing the contacting force error target track between the welding robot and workpiece,the basic control cells,characteristic model,multi-model control and multi-target decision-making rules of human-simulated intelligent parameter-adjusting level control of force sensing are established based on human-simulated intelligent running level control of force sensing in remote welding.The experimental results show that the contacting force error between real phase track and ideal phase track can be reduced by human-simulated intelligent parameter-adjusting level control of force sensing in remote welding,which makes the operator possess a better force telepresence,enhance the ability of controlling complex welding processes,and improve the remote welding quality.
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