Modeling and Optimization of Adjustment of Human Welder on Weld Pool Dynamics for Intelligent Robot Welding

Gang Zhang, Yukang Liu, Yu Shi, Ding Fan, Yuming Zhang

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


An improved machine–human cooperative control system was developed to obtain sufficient data pairs for modeling welder’s adjustment on weld pool dynamics by data-driven approaches. Spectral analysis shows that weld widths are apparently changed due to low-frequency variations of the welder’s hand movement, which can be filtered by a low-pass filter to remove the high-frequency components. The effect of welding torch orientation on weld pool dynamics was numerically studied to understand the mechanism of human welder’s adjustment and to provide the useful data for control system optimization. A gay multiple linear regression model (GMLRM) was employed to analyze the contribution and interactive compensation of each adjusted parameter on the weld widths as the welding current randomly changes in a given range. A nonlinear adaptive kernel radial basis function neural network (AK-RBFNN) was also proposed to improve the model accuracy. Results indicate that the redundant, coupled, and integrated hand adjustments are adopted to maintain the desired weld pool status, and the human welder’s adjustment reflect nonlinear, complex characteristics. Results also show that the proposed AK-RBFNN model can appraise the weld widths with a good accuracy.

Original languageEnglish
Title of host publicationTransactions on Intelligent Welding Manufacturing
Number of pages24
StatePublished - 2019

Publication series

NameTransactions on Intelligent Welding Manufacturing
ISSN (Print)2520-8519
ISSN (Electronic)2520-8527

Bibliographical note

Funding Information:
Acknowledgements This work is funded by the Scientific research project of university of GanSu Province (2018A-018) and Hongliu Outstanding Young Talents Support Project of Lanzhou University of Technology. The authors would like to thank the assistance from Xinxin WANG and Lei XIAO on the numerical model establishment.

Publisher Copyright:
© 2019, Springer Nature Singapore Pte Ltd.


  • GTAW
  • Multiple linear regression
  • Numerical simulation
  • Weld pool dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Computer Vision and Pattern Recognition
  • Mechanical Engineering
  • Mechanics of Materials
  • Metals and Alloys


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