Development of Telerobotic System for Remote Welding Operations in Unstructured Environment

Lin Wu; Hai Chao Li; Hong Ming Gao; Guang Jun Zhang

doi:10.4028/www.scientific.net/SSP.127.37

Paper Titles

On the Liquidus Surface and Reaction Scheme of the Ternary System Cu-Si-Ti
p.15

Interface Development in Joining Yttria Stabilized Zirconia to Stainless Steel by In Situ Alloying with Ni/Ti Filler Metals
p.19

Interfaces in Joints and Composites Composed of Hard Materials and Metals
p.25

Hard a-Si₃N₄/MeN_x Nanocomposite Coatings with High Thermal Stability and High Oxidation Resistance
p.31

Development of Telerobotic System for Remote Welding Operations in Unstructured Environment
p.37

Distribution of Zn and Interfacial Microstructure of Braze-Welding CMT Joints between Aluminium and Galvanized Steel Sheets
p.43

Reverse Monte Carlo Modeling of Atomic Configuration for Amorphous Materials
p.51

Hybrid Simulations for Desinging of Nano-Interfacial Structures
p.57

On the Fracture Mechanics Theory Called (MN-r_p-σ_θ)
p.63

HomeSolid State PhenomenaSolid State Phenomena Vol. 127Development of Telerobotic System for Remote...

Development of Telerobotic System for Remote Welding Operations in Unstructured Environment

Abstract:

This paper presents a generic design and implementation of a telerobotic system application for the remote welding of unstructured and hazardous environment. The objective is to establish a remote welding telerobotic system that is flexibility to carry out welding seam tracing and welding remotely. According to the difference of welding task and environment, this paper presents human machine cooperative control strategies that integrate sensor and model-based computer assistance. The human operator decision and control commands participate into every control level of the teleoperation system. The specific control modes have been presented to integrate into human machine interface (HMI).

You might also be interested in these eBooks

Designing of Interfacial Structures in Advanced Materials and their Joints

View Preview

Info:

Periodical:

Solid State Phenomena (Volume 127)

Pages:

37-42

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.127.37

Citation:

Cite this paper

Online since:

September 2007

Authors:

Lin Wu, Hai Chao Li, Hong Ming Gao, Guang Jun Zhang

Keywords:

Human Machine Cooperative Control, Human Machine Interface, Remote Welding, Shared Control, Telerobotic

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Shigeoki Hirai, Tomomasa Sato, and Toshihiro Matsui: IEEE Conference on Decision and control Honolulu, Hawaii (1990), pp.51-56.

Google Scholar

[2] A Zaatri, M Oussalah: Information Fusion 2003(4). pp.135-150.

Google Scholar

[3] William R. Hamel, Ge Zhang, Pamela Murray: Proceeding of the IEEE International conference on Robotics & Automation (2002), pp.2880-2885.

Google Scholar

[4] Y. Yokokohji, A. Ogawa, H. Hasunuma, and T. Y. Yoshikawa: Proceedings of the IEEE International Conference on Robotics & Automation ( Atlanta, GA, May 1993), Vol3, pp.510-515.

Google Scholar

[5] T. Raimondi: Proc. of 24th conference on Remote Systems Technology, (1976), pp.188-195.

Google Scholar

[6] J. E. Agapakis, K. Masubuchi: Welding Journal. Vol. 65(9) (1986), pp.21-32.

Google Scholar

[7] J. J. Conrath: International Conference on Robotics and Remote Handling in the Nuclear Industry, (Toronto, Canada, 1984), pp.112-121.

Google Scholar

[8] Larkum T.J. and Broome D. R: Proc. Of the 3 rd IEEE Conf. on Control Application, (Glasgow, Scotland, August. 1994).

Google Scholar

[9] Trevor Heale and Trevor Larkum: Industrial Robot . Vol. 26 No. 3 (1999), pp.202-208.

Google Scholar

[10] Jean-Pierre Launary: Nuclear Engineering and Design, (1998), pp.47-52.

Google Scholar

[11] Zhang Huibin: Research on master-slave type remote controlled arc welding robot system. PhD dissertation of Jilin University, (1994).

Google Scholar

[12] Lu Weixin: New motion control method of arc welding robot. PhD dissertation of Harbin Institute of Technology, (1997).

Google Scholar