Agent-based modelling and control of tele-robotic welding system

Abstract

A new tele-robotic welding system (TRWS) with more intelligent welding sensors was investigated. In order to overcome the control difficulties of the TRWS in traditional teleoperation methods, a new control strategy, ‘macroscopic teleoperation, microscopic autonomous’, was presented. Based on the new control strategy, the tele-robotic welding process is analysed, which requires the coordination among operators and machines, and then utilize the advantages of operators and all machines respectively and fully. Therefore the TRWS was modelled and controlled based on multiagent system technologies. Lastly, some practice welding experiments were carried out and the results demonstrated that the agent-based TRWS could complete the practice welding tasks very well.

A sliding-mode controller for dual-user teleoperation with unknown constant time delays

“…In dual-user teleoperation system, the masters (γ = m 1 , m 2 ) and slave (γ = s) robots have a nonlinear dynamics in the following form: 18 (1) where γ = m 1 , m 2 refers to masters, γ = s refers to the slave, and x γ refers to the position of the robots end-effector. D γ (x γ ) M×M is the mass matrix, C γ (x γ ,ẋ γ ) M×M corresponds to the velocity-dependent elements, and G γ (x γ ) M×1 represents forces depend on position such as the gravity.…”

“…Referring to their ability in performing a remote operation, they have found substantial applications in hazardous as well as out of reach areas. 1 For example, under water exploration, space exploration, mining, nuclear as well as toxic material handling, telesurgery, and minimally invasive surgery are some of the teleoperation systems applications. 2,3 Stability and transparency, as the main teleoperation objectives, usually contradict each other and as the consequence, usually a trade-off is required in controller design.…”