Abstract
Torch maneuver skills possessed by skilled welder typically require a long time to develop. A machine assisted feedback control system that can stabilize the welder movement would thus be of interest in manufacturing industry. In this paper, an interval model based feedback control system is designed to assist the welder to adjust the torch movement for the desired speed in manual gas tungsten arc welding (GTAW) process. To this end, an innovative helmet based manual welding platform is proposed and developed. In this system, vibrators are installed on the helmet to generate vibration sounds to instruct the welder to speed or slow down the torch movement. The torch movement is monitored by a leap motion sensor. The torch speed is used as the feedback for the control algorithm to determine how to change the vibrations. To design the control algorithm, dynamic experiments are conducted to correlate the arm movement (torch speed) to the vibration control signal. Linear models are identified and the corresponding linear parameter intervals are obtained. Interval model control algorithm is then implemented. Simulation results reveal that the proposed interval model control algorithm outperforms traditional PID controller. Experiments further verified that the welder's speed is controlled with acceptable accuracy.
Original language | English |
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Title of host publication | 2015 IEEE Conference on Automation Science and Engineering |
Subtitle of host publication | Automation for a Sustainable Future, CASE 2015 |
Pages | 395-400 |
Number of pages | 6 |
ISBN (Electronic) | 9781467381833 |
DOIs | |
State | Published - Oct 7 2015 |
Event | 11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden Duration: Aug 24 2015 → Aug 28 2015 |
Publication series
Name | IEEE International Conference on Automation Science and Engineering |
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Volume | 2015-October |
ISSN (Print) | 2161-8070 |
ISSN (Electronic) | 2161-8089 |
Conference
Conference | 11th IEEE International Conference on Automation Science and Engineering, CASE 2015 |
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Country/Territory | Sweden |
City | Gothenburg |
Period | 8/24/15 → 8/28/15 |
Bibliographical note
Publisher Copyright:© 2015 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering