Collision avoidance strategy of remote welding teleteaching based on touch sensing

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.