Технология дистанционной сварки

Abstract

In this paper a design and implementation of welding telerobotic system (HIT-WTRS) is presented, which is dedicated to remote welding maintenance in inaccessible or hazardous environment. The system integrated three technologies, namely laser scan vision sensing (LSVS), stereoscopic video display, and virtual environment-based plan and control. Three control modes are emphasized in this system respectively, which are teleteaching, autonomous control and virtual environment-based supervisory control. The laser scan vision sensor is used as autonomous welding path planner, and is also employed to provide the welding joint profile feature point for teleteaching. The graphics environment is used as simulation and path plan platform, and is also used as multi- viewpoint supervisory window to monitor the remote environment when arcing. Some performance results and ways to improve the system are discussed.