Title :
On teleoperation of an arc welding robotic system
Author :
Ming, Hou ; Huat, Yeo Song ; Lin, W.U. ; Bin, Zhang Hui
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
A remote arc welding robotic system has been built consisting of a six degree-of-freedom master manipulator, a stereo monitoring system, a computer control system and a slave PUMA robot. The arc welding master-slave teleoperation characteristics and the hand-eye coordination are discussed. In this paper, it is shown that the eye-in-hand monitor mode can increase operation efficiency, and that the combination of automatic weld-speed control and master-slave teleoperation mode can enhance operation stability and tracking accuracy in comparison to conventional master-slave control mode
Keywords :
arc welding; computer vision; computerised monitoring; industrial manipulators; manipulators; position control; telerobotics; arc welding master-slave teleoperation characteristics; arc welding robotic system; automatic weld-speed control; computer control system; hand-eye coordination; operation efficiency; operation stability; six degree-of-freedom master manipulator; slave PUMA robot; stereo monitoring system; teleoperation; tracking accuracy; Automatic control; Computerized monitoring; Control systems; Manipulators; Master-slave; Remote monitoring; Robot kinematics; Robotics and automation; Stability; Welding;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506882
