摘要
用于遥控焊接的机器人遥操作系统(weldingteleroboticssystem,简称WTRS)结合了机器人遥操作技术与焊接技术。通过综述基于机器人遥操作的遥控焊接研究最新进展,分析了遥控焊接中存在的主要问题,对基于临场感技术,图形仿真机器人遥操作系统关键技术在焊接中的应用进行了探讨,强调了用于遥控焊接领域的遥操作控制策略和系统体系结构,并探讨了WTRS的研究方向和发展趋势。
The welding telerobotics system ,which is used for remote welding in unstructured environment,combines the performance of teleoperation technology and welding technology.Firstly,the overview about the research history and the progress of the state of arts on remote welding based on teleoperation is presented.Furthermore,the main problems in performing remote welding tasks are discussed,in which the telepresense technology and graphics simulation technology used in telerobotis system are emphasized especially for using in remote welding field.The human-machine cooperative control strategies and the system architecture are also focused.At last,some research topics and investigation trends and proposed.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2006年第6期108-112,共5页
Transactions of The China Welding Institution
关键词
遥控焊接
遥操作
人机协作控制策略
临场感
图形仿真
remote welding
teleoperation
human-machine cooperation control
telepresence
graphics simulation
