触觉式机器人焊缝跟踪方法

Auto-tracing of weding robot with force sensor

对机器人在焊缝自动跟踪方面进行研究，介绍了机器人触觉的力传感器结构和使用方法。对力信号进行解耦及信号解算，有效地消除了机器人在工作过程中振动、抖动对力信号的污染，使机器人有能力自动识别、跟踪焊缝及焊枪位置修正￣［１］，从而保证焊接质量。

This article focuses on auto-tracing of welding robot with force sensor.The structureof the force sensor is introduced,and the instrumentation of weld tracing is put forward.Forceseingle decoupleing and processing method are implied to eliminate the influence of vibration during robot work.So welding quality is guaranteed.