Inertia compensation of macro-micro robotic remote welding for pipeline repair in nuclear environment

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.