Research On The Key Technologies Of Multi-robot System For Remote Welding

Research shows VR and Network will exert important impacts on future information society, and will eventually change our living and working styles. Consequently, it will change our understanding on remote welding robotics and bring new problems and challenges for us.Intrinsically, remote welding robotics is a complex hybrid dynamic system that consists of discrete events and continuous procedures. It is man-machine interactivities but not continuous variables to dominate the system behaviors. To study the performances of the system, this dissertation analyzes the discrete event system of interactive man-machine behaviors in terms of logic aspect; second, the interactive man-machine model is constructed by introducing controlled Petri-net; finally, system control model is proposed on the basis of supervisory control strategies.As the platform of man-machine interactivities, DVE architecture is classified into two layers of supporting distributed and virtual environment applications with deep analysis. The above two layers are designed by using Petri-net and UML, and implemented by using Java/Java3D, which can meet the need of remote welding.In supervisory control practices, not only does a single robot need to plan path automatically, but also for multiple robots to plan coordinated path automatically in complex welding operation. Those problems can be defined as an automatic searching problem in high-dimension space, and non-classical mathematics method of genetic algorithm (GA) is used to solve the problem. Finally, it was used in the developed DVE, and the GA based multi-robot coordination is implemented in the supervisory scheme.