Study On Multi-Agent Technique Based Tele-Robotic Welding System

Welding technology may be widely used in maintenance of nuclear plants, construction and repairing operations of underwater structures and outer space aircrafts. Tele-robotic welding technology has become the best choice to perform welding tasks under those hazardous or extreme environments instead of human operator. The control strategy, which can apply the advantages of human and machines respectively and fully, and coordinate the functions of all system components, is the key for running of tele-robotic welding system (TRWS) efficiently and safely. So in order to improve the efficiency, robustness, and operation convenience of TRWS during practical using, the construction and control methods of TRWS are studied in this dissertation.Based on the control thinking"macroscopic teleoperation, microscopic autonomous", TRWS is constructed, which consists of welding robot, laser scanning welding seams tracking system, force sensor system, welding machine system, off-line programming system, tele-operation control human-machine interface, 2D vision system and stereo vision system. In order to overcome the control difficulties result from the characteristics of TRWS, such as more parameters needed to be controlled, higher precision and real time required, multi- agent model for TRWS is established. The multi-agent model makes all subsystems more intelligent and coordinative, and then the control difficulties are solved. For the development of agent, the agent hybrid architecture, which consists of agent kernel and function units, is presented. One hand, this architecture meet the real time of TRWS because that it is characterized by the quick reaction of reactive agent; on the other hand, this architecture meet the high intelligence requirement of TRWS because that it can reason and make decisions autonomously that deliberate agent can.To be important components of agent, the agent kernel is agent general development framework. According to the characteristics and practical requirements of tele-robotic welding system, working principles and development methods of agent kernel components, such as internal database, reactive module, planning module, communication module and coordinative...