Experiments on virtual environment calibration for robotic remote welding

Based on the analysis experiments which focus on the factors influencing calibration accuracy, a group of optimal parameters for robotic remote welding virtual environment (VE) calibration system are acquired. With respect to three kinds of parts with different seams, the pose relationship between robot model and worksite model is calibrated in VE calibration experiments. The experimental results show that the system can obtain a high localization precision to meet the requirements of preparation for locally autonomous welding during remote welding process.