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GAO Sheng, LI Haichao, DU Aiguo. Inertia compensation of macro-micro robotic remote welding for pipeline repair in nuclear environment[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2014, 35(7): 13-16.
Citation: GAO Sheng, LI Haichao, DU Aiguo. Inertia compensation of macro-micro robotic remote welding for pipeline repair in nuclear environment[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2014, 35(7): 13-16.
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Inertia compensation of macro-micro robotic remote welding for pipeline repair in nuclear environment

  • 1.

    College of Mechanical Science and Engineering, Northeast Petroleum University, Daqing 163318, China

  • 2.

    State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin 150001, China

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  • Received Date: September 23, 2013
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    • Abstract
  • A teleoperated technology with the macro-micro-structure was proposed toperform the pipeline repair welding in the nuclear remote environment. A 6D force sensor was used to implement force control before pipeline assembly. Inertia compensation should be added to eliminate micro robot motion inertia influence. The inertia compensation algorithm and simulation experiments were studied and carried out. Simulation results show that the compensation algorithm can eliminate robot inertia force with the maximum force deviation not high than 2.5N and compensation torque deviation of 0.3Nm, which can meet the precision requirement of remote welding by macro-micro robot.
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