Research On Adaptive Force Control For Macro-Micro Robotic Remote Welding Of Pipeline Repair

The pipeline repair is nuclear safety engineering facing outstanding problem in nuclear environment, nuclear power plants require regular maintenance. Need using remote welding repairs pipeline because of nuclear radiation. The universal remote welding robot system can deal with unexpected maintenance tasks of pipeline repair, and has a better prospect of engineering application. Macro-micro robot remote welding system suitable for use in nuclear environments, but the operator can not enter the scene, so how to achieve self-assembly and self-welding is the major problem facing.In this paper, repaired crack pipe under the Nuclear Environment by the macro - micro-robot remote welding, studied force control between the macro-robot and the micro-robot and between micro-robot and welding environment. Achieved the rapid self-assembly in remote welding by adaptive force control and human-machine shared control strategy.Developed the adaptive force control algorithm, achieved the rapid self-assembly in macro-micro robotic remote welding. Joined the people of high intelligence factors in the self-assembly, Proposed human-machine shared control strategy based on freedom sharing and control sharing. Human-machine shared strategies to improve the ability of the system to deal with external disturbances and enhanced the adaptability of the system.Analyzed gravity compensation and inertia compensation of the macro - micro robot system, gravity of micro-robot impact force control precision. Eliminate effect of micro-robotic gravity by improved gravity compensation algorithm. According to Newton-Euler dynamics iterative algorithm to calculate inertia force and inertia moment of micro-robot, achieved inertia compensation. Designed the welding parameters controller, realized remote control of welding parameters by sub-parameter method. Developed welding path compensation algorithm for all position welding of circular pipeline, achieved lateral movement control of welding torch.Finally, performed experiments on remote welding. The experiments results show that, macro-micro robot teleoperation realized self-assembly and self- welding, the system has the characteristics of adaptability and high tracking accuracy. Front and back appearance of weld is even and beautiful, welding quality is improved.