Review and prognosis of state of arts on force sensing and control for robotic remote welding

Force sensing and force control are crucial for the successful execution of contact manipulation in unstructured environment for robotic remote welding.In this paper, reaserch on the theory of robot force control and the strategy of embedding force control into industrial robots are reviewed.Focusing on the fundamental issues in contact task, appropriate force control strategies for remote welding are presenteded.The using of force sensing and control technology in some aspects of robotic remote welding field, such as bilateral force-feedback teleoperation, contact force control and force-based pricise task environment modeling, are emphasized.At last, some research topics and investigation trends are proposed.