Abstract
Skilled human welders are so far the only to be capable of producing quality welds against perturbations. They adjust welding parameters based on their observation on 3D weld pool surface. Modelling their response to the 3D pool surface thus leads to next generation intelligent welding robots without human physical limitations. This paper first models this response as a human intelligence based controller. Its controlled process, with 3D pool surface as output and welding parameters as input in gas tungsten arc welding (GTAW), is then Hammerstein modelled in order to analyse its effectiveness. Analysis shows that this controller robustly controls the 3D pool surface under various perturbations. Closed-loop control welding experiments further validated this effectiveness. A foundation is thus established to rapidly transform skilled human welder's intelligence into robotic welding systems.
| Original language | English |
|---|---|
| Title of host publication | 19th IFAC World Congress IFAC 2014, Proceedings |
| Editors | Edward Boje, Xiaohua Xia |
| Pages | 10640-10645 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783902823625 |
| DOIs | |
| State | Published - 2014 |
| Event | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa Duration: Aug 24 2014 → Aug 29 2014 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Volume | 19 |
| ISSN (Print) | 1474-6670 |
Conference
| Conference | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 |
|---|---|
| Country/Territory | South Africa |
| City | Cape Town |
| Period | 8/24/14 → 8/29/14 |
Bibliographical note
Publisher Copyright:© IFAC.
ASJC Scopus subject areas
- Control and Systems Engineering