This paper presents a novel operational space calibration approach for robotic remote welding based on surface tracking with shared force control. A human-machine shared force controller is designed to combine manual control with local force control. A position-based force control strategy for surface tracking on the constrained motion plane is adopted. A precise method to measure the contact point’s spatial location during the surface tracking process is proposed. The operational space calibration for the -pipe part is solved by direct least-squares fitting algorithm of elliptic tracking trajectory and -pipe part calibration algorithm. The experimental results show that the proposed calibration method can make the operational space model error less than , which meets the requirements of carrying out assembling contact tasks during the remote welding process with passive compliance.
1.
Raimondi
, T.
, 1976, “Remote Handling in the Joint European Tonus (JET) Fusion Experiment
,” Proceedings of the 24th Conference on Remote System Technology
, pp. 188
–195
.2.
Agapakis
, J. E.
, and Masubuchi
, K.
, 1986, “Fundamentals and Advances in the Development of Remote Welding Fabrication System
,” Weld. J. (Miami, FL, U.S.)
0043-2296, 65
(9
), pp. 21
–32
.3.
Launary
, J. P.
, 1998, “Teleoperation and Nuclear Services Advantages of Computerized Operator-Assistance Tools
,” Nucl. Eng. Des.
0029-5493, 180
, pp. 47
–52
.4.
Tung
, P. C.
, Wu
, M. C.
, and Hwang
, Y. R.
, 2004, “An Image-Guided Mobile Robotic Welding System for SMAW Repair Processes
,” Int. J. Mach. Tools Manuf.
0890-6955, 44
, pp. 1223
–1233
.5.
Li
, H. C.
, Wu
, L.
, Gao
, H. M.
, and Zhang
, G. J.
, 2006, “Review and Prognosis of State of Arts on Remote Welding Teleoperation
,” Transactions of the China Welding Institution
, 27
(6
), pp. 108
–112
.6.
Wu
, L.
, Li
, H. C.
, Gao
, H. M.
, and Zhang
, G. J.
, 2007, “Development of Telerobotic System for Remote Welding Operations in Unstructured Environment
,” Solid State Phenom.
1012-0394, 127
, pp. 37
–42
.7.
Ferrell
, W.
, and Sheridan
, T.
, 1967, “Supervisory Control of Remote Manipulation
,” IEEE Spectrum
0018-9235, 4
(10
), pp. 81
–88
.8.
Kim
, W. S.
, 1994, “Virtual Reality Calibration for Telerobotic Servicing
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 4
, pp. 2769
–2775
.9.
Kim
, W. S.
, 1996, “Virtual Reality Calibration and Preview/Predictive Display for Telerobotics
,” Presence: Teleoperators and Virtual Environments
, 5
(2
), pp. 173
–190
.10.
Kim
, W. S.
, 1999, “Computer Vision Assisted Virtual Reality Calibration
,” IEEE Trans. Rob. Autom.
1042-296X, 15
(3
), pp. 450
–464
.11.
Lee
, Y. J.
, Yun
, J. N.
, and Chung
, M. J.
, 1997, “Interactive Virtual Space Calibration for Teleoperation
,” Proceedings of the Sixth IEEE International Workshop on Robot and Human Communication
, pp. 472
–476
.12.
Lin
, Q. P.
, and Kuo
, C.
, 1997, “Virtual Tele-Operation of Underwater Robots
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 2
, pp. 1022
–1027
.13.
Hamel
, W. R.
, and Everett
, S.
, 2000, “Robot Task Space Analyzer Technical Overview
,” Design Report for Depart of Energy Contract DE-AR26–97FT34314R01, University of Tennessee.14.
Hamel
, W. R.
, and Kress
, R. L.
, 2001, “Elements of Telerobotics Necessary for Waste Clean Up Automation
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 1
, pp. 393
–400
.15.
Song
, Y. E.
, Wu
, L.
, Tian
, J. S.
, and Dai
, M.
, 2002, “Operation Object Calibration Algorithm Used for Robotic Off-Line Programming
,” Transactions of the China Welding Institution
, 23
(3
), pp. 32
–36
.16.
Wei
, X. Q.
, Li
, H. C.
, Gao
, H. M.
, and Gao
, S.
, 2006, “Virtual Environment Calibration Based on Human-Machine Interaction for Remote Welding
,” Transactions of the China Welding Institution
, 27
(4
), pp. 37
–40
.17.
Wei
, X. Q.
, Gao
, H. M.
, Li
, H. C.
, and Wu
, L.
, 2006, “Experiments on Virtual Environment Calibration for Robotic Remote Welding
,” Robot
, 28
(6
), pp. 582
–585
.18.
Hayati
, S.
, and Venkataraman
, S.
, 1989, “Design and Implementation of a Robot Control System With Traded and Shared Control Capability
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 3
, pp. 1310
–1315
.19.
Backes
, P.
, 1992, “Multi-Sensor Based Impedance Control for Task Execution
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 2
, pp. 1245
–1250
.20.
Kim
, W. S.
, Hannaford
, B.
, and Bejczy
, A.
, 1992, “Force-Reflection and Shared Compliant Control in Operating Telemanipulators With Time Delay
,” IEEE Trans. Rob. Autom.
1042-296X, 8
(2
), pp. 176
–185
.21.
Hirzinger
, G.
, Brunner
, B.
, Dietrich
, J.
, and Heidl
, J.
, 1993, “Sensor-Based Space Robotics—ROTEX and Its Telerobotic Features
,” IEEE Trans. Rob. Autom.
1042-296X, 9
(5
), pp. 649
–663
.22.
Everett
, S.
, and Dubey
, R.
, 1998, “Human-Machine Cooperative Telerobotics Using Uncertain Sensor or Model Data
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 2
, pp. 1615
–1622
.23.
Kuan
, C.
, and Young
, K.
, 2001, “VR-Based Teleoperation for Robot Compliance Control
,” J. Intell. Robotic Syst.
0921-0296, 30
(4
), pp. 377
–398
.24.
Griffin
, W.
, Provancher
, W.
, and Cutkosky
, M.
, 2003, “Feedback Strategies for Shared Control in Dexterous Telemanipulation
,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
, Vol. 3
, pp. 2791
–2796
.25.
Park
, J.
, and Khatib
, O.
, 2006, “A Haptic Teleoperation Approach Based on Contact Force Control
,” Int. J. Robot. Res.
0278-3649, 25
(5–6
), pp. 575
–591
.26.
Fitzgibbon
, A.
, Pilu
, M.
, and Fisher
, R.
, 2000, “Direct Least Squares Fitting of Ellipses
,” IEEE Trans. Pattern Anal. Mach. Intell.
0162-8828, 21
(5
), pp. 476
–480
.Copyright © 2008
by American Society of Mechanical Engineers
You do not currently have access to this content.
