According to the characteristics of remote welding, including multiple parameters, real-time, and reliability of long wire transmitting, a distributing computer control scheme is adopted. A serial communication networ...According to the characteristics of remote welding, including multiple parameters, real-time, and reliability of long wire transmitting, a distributing computer control scheme is adopted. A serial communication network between the master and the slavery computers is constructed. A synchro-control network among slavery computers is designed. Uniform message format and communication protocols are made. Considering intensive high-frequency noises at the welding zone, a quadruple check mode, including data sum check, parameter type check, welding parameters check and Exclusive OR （ XOR ） check, is adopted to assure the reliability of communication among multiple computers. Based on disturbing circuit, common circuit and sensitive circuit, the measures are brought forward to ensure the stabilization of communication network of remote arc welding by analyzing the wiring principle of anti-high-frequency interference of system bus, signal wires and shielding twisted-pair（STP） wires. The results provide the theoretical and practical references for the manufacture of remote welding robot and the quality of remote welding.展开更多
Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted o...Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.展开更多
In telerobotic system for remote welding, human-machine interface is one of the most important factor for enhancing capability and efficiency. This paper presents an architecture design of human-machine interface for ...In telerobotic system for remote welding, human-machine interface is one of the most important factor for enhancing capability and efficiency. This paper presents an architecture design of human-machine interface for welding telerobotic system： welding multi-modal human-machine interface. The human-machine interface integrated several control modes, which are namely shared control, teleteaching, supervisory control and local autonomous control. Space mouse, panoramic vision camera and graphics simulation system are also integrated into the human-machine interface for welding teleoperation. Finally, weld seam tracing and welding experiments of U-shape seam are performed by these control modes respectively. The results show that the system has better performance of human-machine interaction and complexity environment welding.展开更多
文摘According to the characteristics of remote welding, including multiple parameters, real-time, and reliability of long wire transmitting, a distributing computer control scheme is adopted. A serial communication network between the master and the slavery computers is constructed. A synchro-control network among slavery computers is designed. Uniform message format and communication protocols are made. Considering intensive high-frequency noises at the welding zone, a quadruple check mode, including data sum check, parameter type check, welding parameters check and Exclusive OR （ XOR ） check, is adopted to assure the reliability of communication among multiple computers. Based on disturbing circuit, common circuit and sensitive circuit, the measures are brought forward to ensure the stabilization of communication network of remote arc welding by analyzing the wiring principle of anti-high-frequency interference of system bus, signal wires and shielding twisted-pair（STP） wires. The results provide the theoretical and practical references for the manufacture of remote welding robot and the quality of remote welding.
基金This research is supported by National Natural Science Foundation of China （No. 50905043）.
文摘Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.
文摘In telerobotic system for remote welding, human-machine interface is one of the most important factor for enhancing capability and efficiency. This paper presents an architecture design of human-machine interface for welding telerobotic system： welding multi-modal human-machine interface. The human-machine interface integrated several control modes, which are namely shared control, teleteaching, supervisory control and local autonomous control. Space mouse, panoramic vision camera and graphics simulation system are also integrated into the human-machine interface for welding teleoperation. Finally, weld seam tracing and welding experiments of U-shape seam are performed by these control modes respectively. The results show that the system has better performance of human-machine interaction and complexity environment welding.
