Toward Welding Robot With Human Knowledge: A Remotely-Controlled Approach

  title={Toward Welding Robot With Human Knowledge: A Remotely-Controlled Approach},
  author={Yukang Liu and Yuming Zhang},
  journal={IEEE Transactions on Automation Science and Engineering},
This paper presents a remotely controlled welding scheme that enables transformation of human welder knowledge into a welding robot. In particular, a 6-DOF UR-5 industrial robot arm is equipped with sensors to observe the welding process, including a compact 3D weld pool surface sensing system and an additional camera to provide direct view of the work-piece. Human welder operates a virtual welding torch, whose motion is tracked by a Leap sensor. To remotely operate the robot based on the… CONTINUE READING
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