Collaborative mode for remote welding robotic system based on computer-supported cooperative work

In a remote welding robotic system, the activity between master site and slave site can be defined as a computer-supported cooperative work (CSCW).A remote welding collaborative model (RWCM)for remote welding is proposed on the basis of Petri nets.Its definition, components design, and concrete implementation are respectively given.Since RWCM can describe the collaborative relationship and mechanism between the master site and the slave site, it can provide valuable reference for the development and realization of system software.