Tele-Teaching Based On Force Sensing In Remote Welding

The remote welding is needed in space station assembly, ocean project construction and nuclear power equipment repairing. The tele-teaching is the key of remote welding. The teaching box is used to teach on line in traditional teaching. Because the operator can't arrive the remote welding site, the vision sensing is used to teach robot assistantly. Owing to the error of vision, the teaching precision is too lower to meet the remote welding process. The robot controller can adjust real-time the position and pose of welding torch to track welding seam by its outline information obtained by laser vision in structured environment. But the method is not used in all remote welding environment. For example, it is difficult to extract the feature points based on laser vision in irregular or bright welding seam . So a new tele-teaching method is developed to be used in different remote welding environment.The force sensing is introduced into tele-teaching. Cooperating with stereoscopic vision, it overcomes the difficult problem of the feature point extraction of welding seam. The force sensing information is easily processed. It is not disturbed by light, smoke, inhalator and color. The force sensing can touch the welding seam that can not be identified by the laser vision. The tele-teaching system based on force sensing has simple structure, low cost, high sensitivity and teaching precision.The tele-teaching base on force sensing is brought forward to improve the efficiency and precision of tele-teaching in remote welding. It includes two projects developed, such as using welding seam identifying model (WSIM) and adaptive control model to carry out local autonomous tele-teaching, and using sharing technology and vision telepresence to fulfill whole tele-teaching.By analyzing tele-teaching based on laser vision, there is need to found tele-teaching system based on force sensing. It includes the hardware system, the probe select principle , the decoupling principle, and the calibration of threshold and blind section of 6 dimensional (6D) force in different space position.The soft control model of human-simulation intelligent control (HSIC) is founded to solve the adjusting stability of touch force between probe and...