CN101745765A - Man-machine collaboration shared control remote welding method - Google Patents
Man-machine collaboration shared control remote welding method Download PDFInfo
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Abstract
A man-machine collaboration shared control remote welding method relates to a remote welding method. The invention aims to solve the problems in the prior remote welding that the direct control operation can not be continuously carried out and particularly can not work under the situation of time delay, and an autonomous tracking weld seam can not be welded under the situations of complicated welding environment and irregular groove outline dimension of a weld seam. The remote welding method comprises the following steps: firstly, a macroscopic zooming camera acquires a two-dimensional video image, and the visual field of an operator is adjusted in a central monitoring man-machine interface; secondly, a robot guides a welding gun to reach the upper part of the weld seam; thirdly, the operator tracks the weld seam; fourthly, a workpiece is fixed on a working platform to form the welding environment at the remote end; fifthly, the robot moves towards an initial point of the weld seam; sixthly, the welding gun ensures that arc-length distance parameters of the workpiece are set by the central monitoring man-machine interface; and seventhly, the operator sets a shared control algorithm through the central monitoring man-machine interface.
Description
Technical field
The present invention relates to a kind of method of remote control welding.
Background technology
In the underwater construction of nuclear power plant equipment maintenance, ocean engineering, and in the construction of following space station, it is essential that welding is used.The restriction of these extreme environments makes the operator be difficult to body to face the scene, direct control welding gun or equipment, and traditional welding manner can't be used, and must carry out the remote control welding.Remote control welding refer to the people in away from the security context at scene according to from the various heat transfer agents at scene to welding equipment and welding process telemonitoring and control, thereby finish welding operation.Because robot has the adaptability to environment, therefore in research and practical application, be used as executing agency.When carrying out the remote control welding, the common teleoperated vehicle of operator, the guiding welding gun is finished the remote control welding.
Two kinds of control modes are usually adopted in the remote control welding operation: directly control and from main control.Directly control is the welding robot controller of operator's manual command sequence being passed to far-end, controls the motion of welding robot in real time.Directly control the adaptive capacity that the perception, decision-making and the judgement that make full use of the people strengthen system, control procedure is directly perceived, simple, effective, has failover capability preferably.But when remote control was welded, because insufficient to effective heat transfer agent of far-end uncertain environment, bottom executive capability deficiency there being under the time delay situation operation to carry out continuously, can only adopt the method for " motion-wait ", and system can not work in the time of seriously.From main control is that robot system feels that by certain sensor-based system such as power sensor-based system, visual sensing system wait position and the attitude of controlling the welding gun motion, independently finish welding entirely.For the regular continuous weld in the industrial production, by can realizing stable weld joint tracking process from main control, and the remote control welding is repaired task through being usually used in weld seam, weld seam is discontinuous, the welding bead sectional dimension is irregular, has obstacle around the weld seam simultaneously, independently follows the tracks of weld seam and can not carry out continuously.All there is limitation in the control technology of therefore existing remote control welding, all can not well finish the remote control weld task.
Summary of the invention
The objective of the invention is in order to solve in the present remote control welding under the free delay situation, direct control operation can not be carried out continuously, even can not work, and in the welding surroundings complexity, when the weld groove overall size is irregular, the autonomous irrealizable problem of tracking welding seam welding has proposed the method that a kind of man-machine collaboration shared control remote welds.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: described method is realized by following steps: step 1: macroscopical Zoom camera is gathered two-dimensional video image, and two-dimensional video image being passed to macroscopical visual displays by video line, the operator adjusts the visual field by the focus controlling and the second controlled The Cloud Terrace in the CSRC man-machine interface of local side;
Step 2: operator operating space mouse sends control instruction, the robot controller of passing to far-end by EPA goes to control REMOTE MACHINE people's motion, robot guiding welding gun moves and reaches near the 30-40mm of weld seam top, robot controller is passed to the pose matrix of welding gun the CSRC man-machine interface of local side in real time simultaneously, adjusts the pose of the robot of virtual environment in the interface;
Step 3: binocular camera is transferred to the welding surroundings image that obtains the stereoscopic vision display of local side, the operator wears liquid crystal shutter glasses and observes the depth information that obtains distal environment, and in the CSRC man-machine interface, regulate the first controlled The Cloud Terrace and observe from various visual angles, the operator follows the tracks of weld seam;
Step 4: workpiece is fixed on the welding surroundings that constitutes far-end on the workbench, the 6th joint and the welding gun of robot with six-freedom degree is affixed, the laser vision sensor working head is installed on the welding gun, the most advanced and sophisticated lateral separation 20--30mm of laser beam centre-to-centre spacing welding gun, welding gun is in the optional position in welding surroundings space;
Step 5: the operator operates the CSRC man-machine interface and starts laser vision controller and laser vision sensor working head and start the source of welding current, after the characteristic point of laser vision controller processing welding lines realized the guiding of welding gun, robot was to the starting point motion of weld seam;
Step 6: the robot motion begins soldering joint automatic tracking to the original position of weld seam, and the welding gun maintenance is 2-3mm with the arc length distance of workpiece in this process, and distance parameter is by the setting of CSRC man-machine interface;
Step 7: the operator is according to the form of weld seam and the characteristics of welding surroundings, CSRC man-machine interface by local side is set position and the attitude that the human-machine cooperation sharing control algorithm is controlled welding gun, and wherein the human-machine cooperation sharing control algorithm is made of free degree weighting blending algorithm and free degree partitioning algorithm:
When weld seam is the plane weld seam of groove profile rule, the operator adopts free degree partitioning algorithm by the CSRC man-machine interface of local side, height Z and lateral deviation Δ x by laser vision controller and laser vision sensor working head control welding torch position, the operator controls all the other attitudes of welding gun, speed Y sets in the CSRC man-machine interface, laser vision sensor working head guiding welding gun moves to the weld seam original position of surface of the work, when the laser vision sensor working head can be followed the tracks of weld seam, robot controller begins to control welding gun and advances along the weld seam trend, attitude (the Rx of manual command control welding gun, Ry, Rz), wherein Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, finishes until operation;
When weld seam is to have the discontinuous weld seam of obstacle or laser vision is followed the tracks of when invalid, the operator adopts free degree weighting blending algorithm by the CSRC man-machine interface of local side, laser vision controller and laser vision sensor working head trace into weld seam discontinuities or laser vision and follow the tracks of when invalid, the characteristic point that the laser vision sensor working head is followed the tracks of disappears, the guiding of laser-vision sensing controller was lost efficacy, the operator is at liquid crystal shutter glasses, the stereoscopic vision display, assisting down of the second controlled The Cloud Terrace and macroscopical Zoom camera, manually control space mouse is followed the tracks of weld seam, and the guiding welding gun surmounts obstacles, when the laser vision controller recomputate obtain weld bead feature points after, begin to guide the motion of welding gun, and the CSRC man-machine interface of giving local side with the feedback information of guiding, the operator stops direct control.
The present invention has following beneficial effect: 1. the present invention is merged the control command of the control command of autonomous system with manually control by sharing control algolithm in welding teleoperated vehicle controller, from main control and the six-freedom degree of manually controlling shared welding gun, adjust the position and the attitude of welding gun, realize weld joint tracking, and finally finish the remote control weld task.The present invention improved the remote control welding capacity of will, avoided time delay to have " motion-wait " situation under the situation, strengthened the adaptive capacity to environment of remote-control welding system simultaneously, have failover capability preferably; And solved the barrier problem of keeping away of welding straighforward operation.
Description of drawings
Fig. 1 is the schematic diagram of system of the present invention, wherein macroscopical visual displays 1, CSRC man-machine interface 2, the operator 3, space mouse 4, liquid crystal shutter glasses 5, stereoscopic vision display 6, EPA 7, robot controller 8, laser vision controller 9, robot 10, workbench 11, the first controlled The Cloud Terrace 12, binocular camera 13, workpiece 14, the second controlled The Cloud Terrace 15, macroscopic view Zoom camera 16, welding gun 17, laser vision sensor working head 18, the source of welding current 19, Fig. 2 is the algorithm control block diagram that the present invention adopts free degree partitioning algorithm, Fig. 3 is that the present invention adopts free degree weighting blending algorithm control block diagram, the weld joint tracking aberration curve figure that Fig. 4 obtains when being welding straight bead and the long 200mm of butt joint groove weld, Fig. 5 is that welded seam is the plane curve weld seam of double V-groove, the about 10mm weld seam of medium position is interrupted the weld joint tracking aberration curve figure that obtains.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1-Fig. 3, the method of present embodiment is realized by following steps: step 1: macroscopical Zoom camera 16 is gathered two-dimensional video image, and two-dimensional video image being passed to macroscopical visual displays 1 by video line, operator 3 adjusts the visuals field by the focus controlling and the second controlled The Cloud Terrace 15 in the CSRC man-machine interface 2 of local side;
Step 2: operator's 3 operating space mouses 4 send control instruction, the robot controller 8 of passing to far-end by EPA 7 goes to control REMOTE MACHINE people 10 motion, robot 10 guiding welding guns 17 move and reach near the 30-40mm of weld seam top, robot controller 8 is passed to the pose matrix of welding gun 17 the CSRC man-machine interface 2 of local side in real time simultaneously, adjusts the pose of the robot 10 of virtual environment in the interface;
Step 3: binocular camera 13 is transferred to the welding surroundings image that obtains the stereoscopic vision display 6 of local side, operator 3 wears liquid crystal shutter glasses 5 and observes the depth information that obtains distal environment, and in CSRC man-machine interface 2, regulate the first controlled The Cloud Terrace 12 and observe from various visual angles, operator 3 follows the tracks of weld seam;
Step 4: workpiece 14 is fixed on the welding surroundings that constitutes far-end on the workbench 11, the 6th joint and the welding gun 17 of robot 10 with six-freedom degree is affixed, laser vision sensor working head 18 is installed on the welding gun 17, laser beam centre-to-centre spacing welding gun 17 most advanced and sophisticated lateral separation 20--30mm, welding gun 17 is in the optional position in welding surroundings space;
Step 5: operator's 3 operation CSRC man-machine interfaces 2 start laser vision controller 9 and laser vision sensor working head 18 and start the source of welding current 19, after the characteristic point of laser vision controller 9 processing welding lines realized the guiding of welding gun 17, robot 10 was to the starting point motion of weld seam;
Step 6: robot 10 moves to the original position of weld seam, the beginning soldering joint automatic tracking, and welding gun 17 maintenances are 2-3mm with the arc length distance of workpiece 14 in this process, distance parameter is set by CSRC man-machine interface 2;
Step 7: operator 3 is according to the form of weld seam and the characteristics of welding surroundings, CSRC man-machine interface 2 by local side is set position and the attitude that the human-machine cooperation sharing control algorithm is controlled welding gun 17, and wherein the human-machine cooperation sharing control algorithm is made of free degree weighting blending algorithm and free degree partitioning algorithm:
When weld seam is the plane weld seam of groove profile rule, operator 3 adopts free degree partitioning algorithm by the CSRC man-machine interface 2 of local side, height Z and lateral deviation Δ x by laser vision controller 9 and laser vision sensor working head 18 control welding guns 17 positions, all the other attitudes of operator's 3 control welding guns 17, speed Y sets in CSRC man-machine interface 2, the weld seam original position of laser vision sensor working head 18 guiding welding guns 17 to workpiece 14 surfaces moves, when laser vision sensor working head 18 can be followed the tracks of weld seam, robot controller 8 begins to control welding gun 17 and advances along the weld seam trend, attitude (the Rx of manual command control welding gun 12, Ry, Rz), wherein Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, finishes until operation;
When weld seam is to have the discontinuous weld seam of obstacle or laser vision is followed the tracks of when invalid, operator 3 adopts free degree weighting blending algorithm by the CSRC man-machine interface 2 of local side, laser vision controller 9 and laser vision sensor working head 18 trace into weld seam discontinuities or laser vision and follow the tracks of when invalid, the characteristic point that laser vision sensor working head 18 is followed the tracks of disappears, 9 guiding of laser vision controller were lost efficacy, operator 3 is at liquid crystal shutter glasses 5, stereoscopic vision display 6, assisting down of the second controlled The Cloud Terrace 15 and macroscopical Zoom camera 16, manually control space mouse 4 is followed the tracks of weld seam, and guiding welding gun 17 surmounts obstacles, when laser vision controller 9 recomputate obtain weld bead feature points after, begin to guide the motion of welding gun 17, and the CSRC man-machine interface 2 of giving local side with the feedback information of guiding, operator 3 stops direct control.
The specific embodiment two: present embodiment is described in conjunction with Fig. 3, the free degree weighting blending algorithm of present embodiment is to carry out superposition according to predetermined weighted value by operator's 3 direct control commands and visual sensing control command in robot controller 8, the control command of the two influences all frees degree of robot 10, the common pose that changes welding gun 17, establish: the driving matrix of manual control command of the operator 3 is Δ T
1 6, weighted value is K
1(0＜K
1＜1), the laser stripe of laser vision controller 9 is got to the surface of workpiece 14, reflexes on the laser vision sensor working head 18, handle the groove information of extracting weld seam by image, obtain positional information (X, the Y of weld bead feature points, Z), wherein X is that speed, Z are height for horizontal, Y, in conjunction with attitude (Rx, the Ry of robot 10 at this moment, Rz), wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, obtains the driving matrix of laser-vision sensing control command, and establishing this driving matrix is Δ T
2 6, weighted value is K
2(0＜K
2＜1), then: the driving matrix T that obtains welding gun 17 according to free degree weighting blending algorithm:
Solve each joint angle value that robot 10 will reach in the motion of next servo period by inverse kinematics, thereby realize in robot 10 motion processes that manually control command and visual sensing order are jointly to the control of robot 10; Discontinuous weld seam when there is obstacle in the weld metal zone can surmount obstacles by the manual control machine device people 10 who shares control, has improved in the non-structure environment work capacity.Other composition and step are identical with the specific embodiment one.
The specific embodiment three: present embodiment is described in conjunction with Fig. 2, the free degree partitioning algorithm of present embodiment is that the six-freedom degree of robot is cut apart, directly control command is controlled the different frees degree respectively with the visual sensing control command, the laser stripe of laser vision controller 9 is got to the surface of workpiece 14, reflex on the laser vision sensor working head 18, handle the groove information of extracting weld seam by image, obtain the positional information (X of weld bead feature points, Y, Z), wherein X is horizontal, Y is a speed, Z is a height, in conjunction with attitude (Rx, the Ry of robot 10 at this moment, Rz), wherein Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, obtains the driving matrix of laser-vision sensing control command, and establishing this driving matrix is Δ T
2 n, weighted value is K
2(0＜K
2＜1), then: the driving matrix T that obtains welding gun according to free degree partitioning algorithm:
Solve each joint angle value that robot 10 will reach in the motion of next servo period by inverse kinematics, thereby realize in robot 10 motion processes that manually control command and visual sensing order are jointly to the control of robot 10; Operator 3 operation burden alleviates, and the precision of tracking improves, and satisfies the remote control requirement of welding.Other composition and step are identical with the specific embodiment one.
The specific embodiment four: present embodiment is described in conjunction with Fig. 1, the shared control of present embodiment is with the control command of autonomous system and control command fusion in welding teleoperation robot controller 8 of manually control, control, adjust the position and the attitude of welding gun 17 from main control with directly controlling the six-freedom degree of sharing robot 10, finish the remote control weld task.Other composition and step are identical with the specific embodiment one.
The specific embodiment five: present embodiment is described in conjunction with Fig. 1 and Fig. 5, present embodiment is the sine curve medium position disconnection 10mm weld seam of double V-groove for the plane curve weld seam for following the tracks of weld seam, step 1～step 6 is identical with the specific embodiment one, step 7: operator 3 adopts free degree weighting blending algorithm by the CSRC man-machine interface 2 of local side, when laser vision controller 9 and laser vision sensor working head 18 trace into the weld seam discontinuities of 10mm, the characteristic point that laser vision sensor working head 18 is followed the tracks of disappears, 9 guiding of laser vision controller were lost efficacy, operator 3 is at liquid crystal shutter glasses 5, stereoscopic vision display 6, assisting down of the second controlled The Cloud Terrace 15 and macroscopical Zoom camera 16, manually control space mouse 4 is followed the tracks of weld seam, and guiding welding gun 17 surmounts obstacles, when laser vision controller 9 recomputate obtain weld bead feature points after, begin to guide the motion of welding gun 17, and the CSRC man-machine interface 2 of giving local side with the feedback information of guiding, operator 3 stops direct control;
The trace plot that obtains as shown in Figure 5, as seen the discontinuous weld seam when there is obstacle in the weld metal zone can surmount obstacles by the manual control machine device people 10 who shares control, has improved in the non-structure environment work capacity.
The specific embodiment six: present embodiment is described in conjunction with Fig. 1 and Fig. 4, present embodiment is a straight bead, the long 200mm of butt joint groove weld, step 1～step 6 is identical with the specific embodiment one, step 7: operator 3 adopts free degree partitioning algorithm by the CSRC man-machine interface 2 of local side, height Z and lateral deviation Δ x by laser vision controller 9 and laser vision sensor working head 18 control welding guns 17 positions, all the other attitudes of operator's 3 control welding guns 17, speed Y sets in CSRC man-machine interface 2, the weld seam original position of laser vision sensor working head 18 guiding welding guns 17 to workpiece 14 surfaces moves, when laser vision sensor working head 18 can be followed the tracks of weld seam, robot controller 8 begins to control welding gun 17 and advances along the weld seam trend, attitude (the Rx of manual command control welding gun 12, Ry, Rz), wherein Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, finishes until operation;
Tracing deviation curve map such as Fig. 4 of obtaining, because operator 3 only controls the one degree of freedom of welding gun 17, the operation burden alleviates, and the precision of tracking improves, and its average deviation is 1.1mm.Satisfy the remote control requirement of welding.
Operation principle: the robot control command that robot control command that operator 3 sends by space mouse 4 among the present invention and laser vision controller 9 send is merged in robot controller 8 according to the human-machine cooperation sharing control algorithm, promptly directly control with from the fusion of main control, six-freedom degree (the X of control welding gun, Y, Z, Rx, Ry, Rz), wherein X is horizontal, Y is a speed, Z is a height, Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, adjust the position and the attitude of welding gun 17, to reach compensating time delay, keep away barrier and realize the purpose that continued operation is welded.
Claims (4)
1. the method for man-machine collaboration shared control remote welding is characterized in that described method is realized by following steps:
Step 1: macroscopical Zoom camera (16) is gathered two-dimensional video image, and two-dimensional video image being passed to macroscopical visual displays (1) by video line, operator (3) adjusts the visual field by the focus controlling and the second controlled The Cloud Terrace (15) in the CSRC man-machine interface (2) of local side;
Step 2: operator (3) operating space mouse (4) sends control instruction, the robot controller (8) of passing to far-end by EPA (7) goes to control the motion of REMOTE MACHINE people (10), robot (10) guiding welding gun (17) moves and reaches near the 30-40mm of weld seam top, robot controller (8) is passed to the pose matrix of welding gun (17) the CSRC man-machine interface (2) of local side in real time simultaneously, adjusts the pose of the robot (10) of virtual environment in the interface;
Step 3: binocular camera (13) is transferred to the welding surroundings image that obtains the stereoscopic vision display (6) of local side, operator (3) wears liquid crystal shutter glasses (5) and observes the depth information that obtains distal environment, and in CSRC man-machine interface (2), regulate the first controlled The Cloud Terrace (12) and observe from various visual angles, operator (3) follows the tracks of weld seam;
Step 4: workpiece (14) is fixed on workbench (11) and goes up the welding surroundings that constitutes far-end, the 6th joint and the welding gun (17) of robot (10) with six-freedom degree is affixed, laser vision sensor working head (18) is installed on the welding gun (17), the most advanced and sophisticated lateral separation 20--30mm of laser beam centre-to-centre spacing welding gun (17), welding gun (17) is in the optional position in welding surroundings space;
Step 5: operator (3) operation CSRC man-machine interface (2) starts laser vision controller (9) and laser vision sensor working head (18) and starts the source of welding current (19), after the characteristic point of laser vision controller (9) processing welding lines realized the guiding of welding gun (17), robot (10) was to the starting point motion of weld seam;
Step 6: robot (10) moves to the original position of weld seam, and beginning soldering joint automatic tracking, welding gun in this process (17) keep and the arc length distance of workpiece (14) is 2-3mm, and distance parameter is set by CSRC man-machine interface (2);
Step 7: operator (3) is according to the form of weld seam and the characteristics of welding surroundings, CSRC man-machine interface (2) by local side is set position and the attitude that the human-machine cooperation sharing control algorithm is controlled welding gun (17), and wherein the human-machine cooperation sharing control algorithm is made of free degree weighting blending algorithm and free degree partitioning algorithm:
When weld seam is the plane weld seam of groove profile rule, operator (3) adopts free degree partitioning algorithm by the CSRC man-machine interface (2) of local side, height Z and lateral deviation Δ x by laser vision controller (9) and laser vision sensor working head (18) control welding gun (17) position, all the other attitudes of operator (3) control welding gun (17), speed Y sets in CSRC man-machine interface (2), laser vision sensor working head (18) guiding welding gun (17) moves to the weld seam original position on workpiece (14) surface, when laser vision sensor working head (18) can be followed the tracks of weld seam, robot controller (8) begins to control welding gun (17) and advances along the weld seam trend, attitude (the Rx of manual command control welding gun (12), Ry, Rz), wherein Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, finishes until operation;
When weld seam is to have the discontinuous weld seam of obstacle or laser vision is followed the tracks of when invalid, operator (3) adopts free degree weighting blending algorithm by the CSRC man-machine interface (2) of local side, laser vision controller (9) and laser vision sensor working head (18) trace into weld seam discontinuities or laser vision and follow the tracks of when invalid, the characteristic point that laser vision sensor working head (18) is followed the tracks of disappears, laser vision controller (9) guiding was lost efficacy, operator (3) is in liquid crystal shutter glasses (5), stereoscopic vision display (6), assisting down of the second controlled The Cloud Terrace (15) and macroscopical Zoom camera (16), manually control space mouse (4) is followed the tracks of weld seam, and guiding welding gun (17) surmounts obstacles, when laser vision controller (9) recomputate obtain weld bead feature points after, begin to guide the motion of welding gun (17), and the CSRC man-machine interface (2) of giving local side with the feedback information of guiding, operator (3) stops direct control.
2. according to the method for the described a kind of man-machine collaboration shared control remote welding of claim 1, it is characterized in that free degree weighting blending algorithm is to carry out superposition according to predetermined weighted value by direct control command of operator (3) and visual sensing control command in robot controller (8) in the described step 7, the control command of the two influences all frees degree of robot (10), the common pose that changes welding gun (17), establish: the driving matrix of operator's (3) manual control command is Δ T
1 6, weighted value is K
1(0＜K
1＜1), the laser stripe of laser vision controller (9) is got to the surface of workpiece (14), reflex on the laser vision sensor working head (18), handle the groove information of extracting weld seam by image, obtain the positional information (X of weld bead feature points, Y, Z), wherein X is that speed, Z are height for horizontal, Y, in conjunction with attitude (Rx, the Ry of robot (10) at this moment, Rz), wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, obtains the driving matrix of laser-vision sensing control command, and establishing this driving matrix is Δ T
2 6, weighted value is K
2(0＜K
2＜1), then: the driving matrix T that obtains welding gun (17) according to free degree weighting blending algorithm:
Solve each joint angle value that robot (10) will reach in the motion of next servo period by inverse kinematics, thereby realize in robot (10) motion process that manually control command and visual sensing order are jointly to the control of robot (10).
3. according to the method for the described a kind of man-machine collaboration shared control remote welding of claim 1, it is characterized in that free degree partitioning algorithm is that the six-freedom degree of robot is cut apart in the described step 7, directly control command is controlled the different frees degree respectively with the visual sensing control command, the laser stripe of laser vision controller (9) is got to the surface of workpiece (14), reflex on the laser vision sensor working head (18), handle the groove information of extracting weld seam by image, obtain the positional information (X of weld bead feature points, Y, Z), wherein X is horizontal, Y is a speed, Z is a height, in conjunction with attitude (Rx, the Ry of robot (10) at this moment, Rz), wherein Rx is an angle of travel, Ry is an operating angle, Rz is a spin angle, obtains the driving matrix of laser-vision sensing control command, and establishing this driving matrix is Δ T
2 n, weighted value is K
2(0＜K
2＜1), then: the driving matrix T that obtains welding gun according to free degree partitioning algorithm:
Solve each joint angle value that robot (10) will reach in the motion of next servo period by inverse kinematics, thereby realize in robot (10) motion process that manually control command and visual sensing order are jointly to the control of robot (10).
4. according to the method for the described a kind of man-machine collaboration shared control remote welding of claim 1, it is characterized in that sharing in the described step 7 control is that the control command of autonomous system and the control command of manually control are merged in welding teleoperation robot controller (8), control, adjust the position and the attitude of welding gun (17) from main control with directly controlling the six-freedom degree of sharing robot (10), finish the remote control weld task.
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- 2009-12-15 CN CN2009100734216A patent/CN101745765B/en not_active Expired - Fee Related
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