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首页> 外文期刊>International Journal of Computer Integrated Manufacturing >Operation of a haptic interface for offline programming of welding robots by applying a spring-damper model
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Operation of a haptic interface for offline programming of welding robots by applying a spring-damper model

机译：通过施加弹簧阻尼模型，焊接机器人离线编程的触觉界面的操作

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摘要

This paper studies a system of a virtual welding torch employed during the teaching process of welding tasks for offline programming of robotic manipulators. The torch is manipulated by the user in a virtual environment applying a haptic interface. An approach based on a spring-damper model is proposed to compute the force to be felt by the user during the manipulation of the interface. The force is such that more realistic sensations are perceived by the hand's user if a collision occurs of the torch in the virtual environment. A suitable strategy is employed to represent the virtual torch by two coupled models with spring-damper systems (SDS). Such models are termed kinematic virtual torch (KVT) and dynamic virtual torch (DVT). Thus, in the studied system, the DVT follows the geometric coordinates of the KVT during a manipulation of the torch avoiding penetration of other objects in the scene. Careful analyses are accomplished on manipulation tasks using different SDS configurations in a case study in order to show the efficacy of the proposed approach. As a result, a desired welding task is properly programmed for a robot in an easy and accurate way.
机译：本文研究了在焊接任务的教学过程中采用虚拟焊接炬的系统，用于机器人操纵器的离线编程。武器由用户在应用触觉界面的虚拟环境中操纵。提出了一种基于弹簧阻尼模型的方法来计算用户在界面的操纵期间由用户感到的力。如果在虚拟环境中发生炬发生碰撞，则手使手的用户被手动感知的力是这样的力。采用合适的策略来表示具有弹簧阻尼系统（SDS）的两个耦合模型的虚拟炬。这些模型被称为运动型虚拟割炬（KVT）和动态虚拟割炬（DVT）。因此，在研究的系统中，DVT在焊炬的操纵期间遵循KVT的几何坐标避免了场景中的其他物体的渗透。在案例研究中使用不同的SDS配置完成仔细分析，以显示所提出的方法的功效。结果，以简单且准确的方式适当地为机器人编程所需的焊接任务。

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