【摘要】 本文介绍一种弧焊机器人自我示教系统的原理和结构。该系统采用接近觉/力觉组合式触觉传感器作为机器人手指来触摸焊缝坡口,用微机及智能控制系统去采集和处理接触状态信息,从而调整“手指”的位置和姿态,使其适合焊接作业对焊枪的工艺要求,在辨识的同时记忆轨迹。此外,文章还深入讨论了摩擦力等问题,并给出了传感器实验标定和辨识逻辑计算机仿真的结果。更多还原

【Abstract】 The principle and structure of a self-teaching system for arc welding robot isdiscussed in the paper.The system utilizes a proximity/force combined tactile sensoras a robot finger to touch the welding-seams,collects and processes contact-stateinformation with a microcomputer and an intelligent control system,and adjusts thepositions and postures of the finger so as to make them meet the demands of weldinggun in the welding procees.The question of friction is also dealt with,and theresults of sensor calibration and control simulation are expounded.更多还原