TY - GEN
T1 - Interval model based human welder's movement control in machine assisted manual GTAW torch operation
AU - Huang, Ning
AU - Chen, Shujun
AU - Zhang, Yuming
N1 - Publisher Copyright:
© 2015 IEEE.
Copyright:
Copyright 2016 Elsevier B.V., All rights reserved.
PY - 2015/10/7
Y1 - 2015/10/7
N2 - 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.
AB - 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.
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U2 - 10.1109/CoASE.2015.7294110
DO - 10.1109/CoASE.2015.7294110
M3 - Conference contribution
AN - SCOPUS:84952795895
T3 - IEEE International Conference on Automation Science and Engineering
SP - 395
EP - 400
BT - 2015 IEEE Conference on Automation Science and Engineering
T2 - 11th IEEE International Conference on Automation Science and Engineering, CASE 2015
Y2 - 24 August 2015 through 28 August 2015
ER -