Arc welding telerobotic system seam tracing with shared control strategies

This papers applied shared control technology into telerobotic arc welding system for seam tracing, and the experiment system was established. The laser vision sensor based on triangulation principle can extract welding seam feature point for autonomous seam tracing and welding. According to resolved-rate algorithm, the control commands of hand controller and laser vision sensor are summed in robot controller to control the 6 degree of freedom respectively. The welding robot is hold between local autonomous control and direct manual control by shared or alternative mode to perform the welding seam tracing of remote environment. The results of experiments illustrated that shared control technology can avoid obstacle in unstructured environment, and enhance the precision of welding seam tracing, and relieve the payload of human operator.