Position identifying of curve welding seamin tele-teaching based on force sensing

There often be the curve welding seam (CWS)in remote welding.The accurately identified CWS is one of the prerequisites to ensure tele-teaching precision.Aiming at the characters of CWS, the concept of inflection point and direction coefficient of welding seam are put forward.The intelligent model of direction coefficient of welding seam is established.Combining with the identifying algorithm of inflection point in welding seam, identifying experiment of CWS is done.The experiment results show that inflection point of welding seam can be automatically identified, that the average error of CWS is less than ±0.5 mm by optimal treatment of offline programming system, and meets the requirements of tele-teaching.