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本文介绍了一个触觉传感器及其工作原理,探讨了该传感器在弧焊机器人上的应用,提出了解决未知路径搜索问题的方法,并通过实验验证了该方法的可行性。实验结果表明,具有该触觉系统的弧焊机器人应用这种搜索方法能实现三自由度自我示教。
In this paper, a tactile sensor and its working principle are introduced. The application of the sensor in arc welding robots is discussed. A method to solve the unknown path search problem is proposed. The feasibility of the method is verified by experiments. The experimental results show that the arc welding robot with the haptic system can realize self-teaching of three degrees of freedom by using this search method.