Teleoperation characteristics and human response factor in relation to a robotic welding system
Teleoperation characteristics and human response factor in relation to a robotic welding system
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与机器人焊接系统相关的远程操作特性和人类响应因素
DOI：
10.1109/iros.1996.568971
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
H. Zhang
中科院分区：
文献类型：
--
作者：
Ming Hou;S. Yeo;Lin Wu;H. Zhang
建立了一个由六自由度主操作手、立体监控系统、计算机控制系统和从机器人组成的遥控机器人焊接系统。讨论了手眼协调、人手响应仿真试验以及主控不平衡力矩对弧焊主从遥操作特性的影响。轨迹偏差的功率谱密度呈“双峰”分布特征，说明手眼监控模式可以提高作业效率，自动焊接速度控制与主从遥操作模式相结合相对于传统的主从控制模式可以提高作业稳定性和跟踪精度。
A remote robotic welding system has been built consisting of a six degree-of-freedom master manipulator, a stereo monitoring system, a computer control system and a slave PUMA robot. The hand-eye coordination, the human hand respondent simulation test and the influence of master unbalanced torque on arc welding master-slave teleoperation characteristics are discussed. In this paper, the power spectral density of the trajectory deviation shows a "two humps" distribution characteristic, it will also be shown that the eye-in-hand monitor mode can increase operation efficiency, and that the combination of automatic weld-speed control and master-slave teleoperation mode can enhance operation stability and tracking accuracy in comparison to conventional master-slave control mode.