基于CSCW的遥控焊接机器人系统协同工作模型

Collaborative mode for remote welding robotic system based on computersupported cooperative work

复杂遥控焊接任务需要操作者与主端控制计算机、主端控制计算机与从端控制计算机、从端控制计算机与焊接机器人在内的多个控制环路支持,将这些控制环路之间的协作定义为一种计算机支持的协同工作系统(CSCW),采用Petri网建立了其交互协作模型(RWCM),并对其定义、部件设计及具体实现进行了分析与讨论。RWCM能够在逻辑层次上清晰描述遥控焊接系统复杂的协作关系,因此它对系统软件设计和实现具有重要的参考意义。

In a remote welding robotic system,the activity between master site and slave site can be defined as a computer-supported cooperative work(CSCW).A remote welding collaborative model(RWCM) for remote welding is proposed on the basis of Petri nets.Its definition,components design,and concrete implementation are respectively given.Since RWCM can describe the collaborative relationship and mechanism between the master site and the slave site,it can provide valuable reference for the development and realization of system software.