Threshold calibrating of 6D touching force in welding seam identifying

The welding seam identifying(WSI)is one prerequisite for remote welding.The welding seam is usually identified by vision sensor.While the study onWSI based on 6 dimensional (6D) force is less reported.When the 6D force sensor fixed on welding robot moves along with space welding seam, the weight of probe fixed on 6D force sensor will influence on 6D force value of WSI.As 6D force probe does not contact with welding seam, the blind section of 6D force is calibrated in different space position by testing 6D force value in x-z, y-z plane.When 6D force probe contacts with welding seam, the threshold of 6D touching force is calibrated in different space position.The experiment of WSI efficiency is achieved by use of this technologies.The experimental results show that the efficiency of WSI is improved sixty percent comparing with manual WSI.It provides condition for the welding seam identified quickly and exactly.