| 基于力觉传感的遥控焊接虚拟环境管道工件建模技术 |
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| 引用本文： | 董娜,李海超,夏立乾,高洪明,吴林.基于力觉传感的遥控焊接虚拟环境管道工件建模技术[J].上海交通大学学报,2010(Z1). |
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| 作者姓名： | 董娜 李海超 夏立乾 高洪明 吴林 |
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| 作者单位： | 哈尔滨工业大学现代焊接生产技术国家重点实验室; |
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| 基金项目： | 新世纪优秀人才支持计划基金资助项目(NCET-07-0233) |
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| 摘 要： | 在核环境中,遥控焊接技术常被用于进行管道焊接任务.对于这种半结构化的遥操作环境,实现遥控焊接的关键是建立精确的管道模型.在基于Java&Java3D建立的虚拟环境操控平台上,采用力觉传感对远端管道工件进行特征信息提取,并建立了管道工件的三维模型.建模结果表明,其精度高于基于视觉的三维建模方法.
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| 关 键 词： | 遥控焊接 虚拟环境 工件建模 |
Pipeline Modeling Technology in Virtual Remote Welding Environment Based on Force Feedback |
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| DONG Na,LI Hai-chao,XIA Li-qian,GAO Hong-ming,WU Lin.Pipeline Modeling Technology in Virtual Remote Welding Environment Based on Force Feedback[J].Journal of Shanghai Jiaotong University,2010(Z1). |
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| Authors: | DONG Na LI Hai-chao XIA Li-qian GAO Hong-ming WU Lin |
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| Institution: | DONG Na,LI Hai-chao,XIA Li-qian,GAO Hong-ming,WU Lin(National Key Laboratory of Advanced Welding Production Technology,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | The remote welding technology is always used in nuclear pipeline welding task.This is a semi-structure operation environment.The key to ensure remote welding is setting up the accurate pipeline model.Getting the remote pipeline characteristic information by force feedback,the 3D pipeline was set up by model virtual operation platform based on Java&Java3D.Results show that the modeling accuracy and efficiency based on force feedback is better than that based on video feedback. |
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| Keywords: | telerobotic welding virtual environment workpiece modeling |
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