力觉遥示教姿态几何平面法

Geometry Arithmetic on the Tele-teaching Pose Based on Force Sensing

提出基于力觉搜寻焊接坡口遥示教点方法和力觉遥示教姿态几何平面法,并给出利用遥示教姿态几何平面法计算遥示教工作角α和行走角β的方法。实验表明:基于力觉遥示教工作角fα和行走角fβ较手工示教工作角hα和行走角hβ误差小,误差分布较均匀,通过做平均值滤波处理,误差在±4°范围内,满足遥控焊接遥示教精度要求,其中建立的数学模型和实验数据,为遥示教姿态自适应调整奠定了基础。

The way of searching welding groove tele-teaching point based on force sensing was presented, and the geometry arithmetic of the tele-teaching pose（GATP） based on force sensing was introduced. The calculation of tele-teaching working angle and traveling angle using GATP was given. The experimental results show that the errors of working angle and traveling angle of tele-teaching based on force sensing is smaller than that of working angle and traveling angle of the manual tele -teaching, and spread evenly. After they are filtered, the average error of tele-teaching pose angle is less than ±4° that can meet the precision of tele-teaching in remote welding. The given theoretical model and experimental data set up the groundwork to the tele-teaching pose self-adjusting.