Open architecture master-slave robot remote welding controlsystem

Manual controlusing the master-slave robotre-mote welding system can not meet the requirements of remote welding,and so an open architecture master-slave robot remote welding system is developed.Motom an HP3J robot is the master robot,the end-effector of the Motoman HP3J robot is 6 degrees of free Space Navigator spaceball,the control plat form of the master robot is RTlinux operating system,and V01 robot is the slave ro-botwhich the control system consists of the Windows 2000 Oper-ating System and PMAC(programmable multi-axis controller)motion control card.The communication between the master ro-botand slave robot is LAN(local areanet work)TCP/IP communication protocol based on the Socket.The salve robot can bereal-time controlled by the master robot.The experimental results show that the open architecturemaster-slave robot remote welding system runs stably and reliably.