Supervisory Control of Telerobotic System for Remote Welding

This paper presents supervisory control concept of telerobotic system for remote welding in unstructured environment. Three supervisory control strategies are presented and implemented, which are namely laser vision sensing based teleteaching, graphics simulation based plan and control, and local autonomous control. The three control modes are integrated into a multi-modal human-machine interface. Interacting with the human-machine interface effectively, the operator´s decisionmaking and control commands are participated into every control levels of the system. The experiments results demonstrate that the three supervisory control modes improve the performance of are welding telerobotic system, which are flexible enough to perform remote welding task in unstructured environment.