论文部分内容阅读
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。
This article introduces the principle and structure of an arc welding robot self-teaching system. The system uses proximity / force sense combined touch sensor as a robot finger to touch the weld groove, using computer and intelligent control system to collect and process the contact state information, so as to adjust the “finger” position and posture, make it suitable for welding Job welding torch requirements, while recognizing the memory track. In addition, the article also discusses the friction and other issues in depth, and gives the results of the sensor experiment calibration and identification logic computer simulation.