Investigation on Human-Simulation Intelligent Control of the Touch Force in Remote Welding Teleteaching

In remote welding teleteaching process (RWTP), some factors, such as the high-frequency interference, the vibration of the robot arm, the change of the actual gravity center of welding tracing probe produced by the change of robot space posture, and the roughness of the welding groove, etc. This may strongly interfere with the force signal, reduce the reliability of touch force signal transmission, distort the force telepresence of welding operator, and consequently influence remote welding teleteaching quality. The paper, by analyzing force error target track on the foundation of the PID control model, brings forward human-simulation intelligent control (HSIC) strategy based on the force guiding. Its characteristic algorithm is established, including the characteristic model, characteristic identification, characteristic memory, multi-model control and multi-target decision-making. The experimental results show that the force error between fact phase track and idea phase track is lessened, the oscillating scope of touch force obviously reduced, the stability time of RWTP shortened, the efficiency and playback precision of the RWTP improved by comparing HSIC with PID control