基于共享控制策略的遥控弧焊机器人焊缝跟踪

Arc welding telerobotic system seam tracing with shared control strategies

对应用于遥控弧焊机器人的共享控制技术进行了研究,建立了遥控机器人共享控制试验系统。激光视觉传感器基于三角测量原理,根据提取焊缝的特征点,实现焊缝的自主跟踪和焊接。根据解析速率控制算法,把手控器的控制命令与激光视觉传感器的自主控制命令在人控制器中进行融合,控制焊枪的六个自由度。弧焊机器人的控制权可以在局部自主控制和直接手动控制之间进行共享和交互,实现对远端非结构环境下的焊缝跟踪。结果表明,人机共享控制焊枪,实现未知环境的避障;提高了焊缝跟踪精度;把操作者从焊缝跟踪的底层操作中解放出来,减轻操作者的工作强度。

This papes applied shared control technology into telerobotic arc welding system for seam tracing,and the experiment system was established.The laser vision sensor based on triangulation principle can extract welding seam feature point for autonomous seam tracing and welding.According to resolved-rate algorithm,the control commands of hand controller and laser vision sensor are summed in robot controller to control the 6 degree of freedom respectively.The welding robot is hold between local autonomous control and direct manual control by shared or alternative mode to perform the welding seam tracing of remote environment.The results of experiments illustrated that shared control technology can avoid obstacle in unstructured environment,and enhance the precision of welding seam tracing,and relieve the payload of human operator.