Welding identifying strategy based on sharing control in force tele-teaching

The tele-teaching was achieved by the shared technology in some cases, such as the probe locked by complex curve welding seam, ane turning point.A welding seam identifying plat was founded based on the shared control in tele-teaching.The shared control mainly makes the operator in cooperate with robot to ensure the operating mode to transform smoothly, and the control instruction to superimpose in real-time.Sharing control mode was defined in tele-teaching.The control right between operator and remote robot is effectively shared by self-adjusting teaching and manual adjusting control.Tele-teaching experiment of half-box workpiece on shared control was completed.The experimental results show that the position precision of tele-teaching-playback is less than ±0.5 mm, which can meet remote welding process.