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目前,电弧焊机器人的基本型式是示教重现式,从信息处理的角度来看,其典型结构如图1所示。其中作为示教及重现部份是机器人控制器的核心。 1.重现方法实现电弧焊操作的自动化从来就是难题,尤其是从数字方式来明确描述动作更是设想已久的难题,用数控技术来实现焊接自动化,即所谓的“NC机器人”。但这种数控方式价格昂贵,而且有赖于建立完善的焊接全过程的数学模型。目前广泛应用重现方式,则是建立在示教的基础上,即操作信息的写入,是通过人的
At present, the basic type of arc welding robot is the teaching of recurrence, from the information processing point of view, the typical structure shown in Figure 1. Among them, the teaching and reproduction part is the core of the robot controller. 1. Reproduce method Automating arc welding operation has always been a problem, especially since it is a long-conceived problem to describe the motion numerically. In particular, the so-called “NC robot” is realized by using numerical control technology for welding automation. However, this CNC method is expensive and depends on the establishment of a complete mathematical model of the welding process. Currently widely used to reproduce the way, it is built on the basis of teaching, that is, the operation of the information is written through the human