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LIU Lijun, GAO Hongming, ZHANG Guangjun, WU Lin. Collision avoidance strategy of remote welding teleteaching based on touch sensing[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2006, (8): 35-38.
Citation: LIU Lijun, GAO Hongming, ZHANG Guangjun, WU Lin. Collision avoidance strategy of remote welding teleteaching based on touch sensing[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2006, (8): 35-38.
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Collision avoidance strategy of remote welding teleteaching based on touch sensing

  • 1.

    School of Material Science and Engineering, Harbin University of Science and Technology, Harbin 150080, China;State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China

  • 2.

    State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China

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  • Received Date: May 29, 2005
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    • Abstract
  • To avoid strong collision between the welding slave robot and the workpiece during remote welding teleteaching process (RWTP), by analyzing the touch force and, the soft-force touch control strategy was put forward based on the PID control model.It includes the subsection control strategy, the decision algorithm of touch force stability in abnormal circumstances and the task self-adapting human-simulation intelligent control (HSIC) of touch force. Compared with PID controller, the experimental results show that the soft-force touch control strategy can obviously reduce the oscillating scope of touch force, shorten the time of touch force stabilizing and improve the operated capability of touch force during the remote welding teleteaching.
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