Tremor suppression in master-slave robot remote welding system  

作　　者：陈洪堂 李海超 高洪明 吴林 

机构地区：[1]State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin, 150001

出　　处：《China Welding》2011年第2期63-66,共4页中国焊接（英文版）

基　　金：This research is supported by National Natural Science Foundation of China （No. 50905043）.

摘　　要：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.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.

关 键 词：remote welding master-slave teleoperation hand tremor digital filtering 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG44[自动化与计算机技术—控制科学与工程]