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Research Papers

Operational Space Calibration for Remote Welding Based on Surface Tracking With Shared Force Control

[+] Author and Article Information
Xiuquan Wei

State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, P.R.C.weixiuquan1982@tom.com

Haichao Li

State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, P.R.C.lihaichao@tom.com

Hongming Gao

State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, P.R.C.gaohm@hit.edu.cn

Lin Wu

State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, P.R.C.crwdai@hit.edu.cn

J. Comput. Inf. Sci. Eng 8(4), 041005 (Nov 06, 2008) (7 pages) doi:10.1115/1.2988341 History: Received August 21, 2007; Revised June 19, 2008; Published November 06, 2008

This paper presents a novel operational space calibration approach for robotic remote welding based on surface tracking with shared force control. A human-machine shared force controller is designed to combine manual control with local force control. A position-based force control strategy for surface tracking on the constrained motion plane is adopted. A precise method to measure the contact point’s spatial location during the surface tracking process is proposed. The operational space calibration for the L-pipe part is solved by direct least-squares fitting algorithm of elliptic tracking trajectory and L-pipe part calibration algorithm. The experimental results show that the proposed calibration method can make the operational space model error less than 1mm, which meets the requirements of carrying out assembling contact tasks during the remote welding process with passive compliance.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

The scheme of pipe segment replacement strategy for crack repairing task

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Figure 2

Experimental system; (a) experimental system architecture, (b) experimental system setup, and (c) force sensing tool

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Figure 3

Position-based force control strategy for surface tracking on constrained motion plane

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Figure 4

Force status analysis of contact point on tracking trajectory

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Figure 5

Robot motion increment for position-based force control strategy

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Figure 6

Spatial location measurement of contact points based on coordinate system transformation

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Figure 7

Direct least-squares fitting of elliptic tracking trajectory

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Figure 8

L-pipe part calibration algorithm

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Figure 9

L-pipe part for calibration experiment

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Figure 10

L-pipe part calibration experiment results: (a) calibration results, and (b) calibration error analysis

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Figure 11

L-pipe assembling experiment with customized tool

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Figure 12

Compliant offset in L-pipe assembling task: (a) position offset, and (b) orientation offset

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