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DIGITAL FILTER
OF
IDENTIFYING SIGNAL OF
WELDING SEAM BASED ON FORCE
SENSING IN REMOTE TEACHING
LIU Lijun1, 2 GAO Hongming1 ZHANG Guangjun1
WU Lin1
(1. State Key Laboratory of Advanced Welding
Production Technology, Harbin Institute of
Technology, Harbin 150001;
2. School of Materials Science & Engineering, Harbin University of Science and
Technology, Harbin 150080
)
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Abstract: For
reasons of the vibration of robot, the rough weld seam and
electromagnetic disturbance of welding machine, the identifying force
signals of welding seam(IFSWS) become unstable. By analyzing the model
of IFSWS, the Kalman is used to filter the IFSWS in remote teaching. The
next IFSWS is accurately predicted according to the equation of the
state, the equation of the observation, the filtering of the state
predicting, gain matrix of the filtering and the covariance matrix of
the predicting state in Kalman filter. The experimental results show, by
Kalman filtering, that the predicting error of the IFSWS is the
smallest, the detecting precision of the IFSWS is increased, and the
precision of welding seam identifying is improved in remote teaching.
Key words: Remote welding Remote teaching
Kalman filtering Welding seam identifying
Force sensing
CLC No: TP274
总装备部“十五”资助项目(41318.5.1.2). Received 20060307, received in revised form 20060925
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