Transition control between two tele-teaching points based on force sensing in remote welding

In order to realizing autonomous tele-teaching in remote welding, the transition control between two tele-teaching points was developed.The first tele-teaching point can be calculated by welding seam identifying model and sharing technology.From first tele-teaching point to next one, the transition control in z direction and xSy plane is studied.By analyzing the influence of friction force on the transition direction, the friction will decrease the robot feeding in xSy plane and increase F_z in z direction.But it is in range permitted by tele-teaching, and has not influence on welding seam identifying.The automatic transition control is implemented.It creates conditions for the autonomous tele-teaching.