Interval model based human welder's movement control in machine assisted manual GTAW torch operation

Ning Huang, Shujun Chen, Yuming Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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 languageEnglish
Title of host publication2015 IEEE Conference on Automation Science and Engineering
Subtitle of host publicationAutomation for a Sustainable Future, CASE 2015
Pages395-400
Number of pages6
ISBN (Electronic)9781467381833
DOIs
StatePublished - Oct 7 2015
Event11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden
Duration: Aug 24 2015Aug 28 2015

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2015-October
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference11th IEEE International Conference on Automation Science and Engineering, CASE 2015
Country/TerritorySweden
CityGothenburg
Period8/24/158/28/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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