摘要
Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.
作者
Xiao Jun
Wen Tao
Chen Shujun
Li Rui
肖珺;温涛;陈树君;李锐(Institute of Intelligent Forming Equipment and System,Beijing University of Technology,Beijing 100124,China;Engineering Research Center of Advanced Manufacturing Technology for Automotive Components,Ministry of Education,Beijing 100124,China;Harbin Boiler and Pressure Vessel Inspection Research Institute,Harbin 150076,China)
