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Teleoperation characteristics and human response factor in relation to a robotic welding system

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4 Author(s)
Hou, M. ; Sch. of Mech. & Production Eng., Nanyang Technol. Inst., Singapore ; Yeo, S.H. ; Wu, L. ; Zhang, H.B.

A remote robotic welding 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 hand-eye coordination, the human hand respondent simulation test and the influence of master unbalanced torque on arc welding master-slave teleoperation characteristics are discussed. In this paper, the power spectral density of the trajectory deviation shows a “two humps” distribution characteristic, it will also be 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

Published in:

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

4-8 Nov 1996