|Publisher URL:||https://www.mdpi.com/2218-6581/9/2/30/htm||Publisher DOI:||10.3390/ROBOTICS9020030||Title:||Motion signal processing for a remote gas metal arcwelding application||Authors:||Ebel, Lucas-Christoph
|Keywords:||Kalman-Filter;Real-time system;Remote controlled Welding||Issue Date:||1-May-2020||Publisher:||MDPI||Journal or Series Name:||Robotics||Volume:||9||Issue:||2||Project:||Mensch-Roboter Interaktion in der Schweißtechnik||Abstract:||
This article covers the signal processing for a human-robot remote controlled welding application. For this purpose, a test and evaluation system is under development. It allows a skilled worker to weld in real time without being exposed to the associated physical stress and hazards. The torch movement of the welder in typical welding tasks is recorded by a stereoscopic sensor system. Due to a mismatch between the speed of the acquisition and the query rate for data by the robot control system, a prediction has to be developed. It should generate a suitable tool trajectory from the acquired data, which has to be a C2-continuous function. For this purpose, based on a frequency analysis, a Kalman-Filter in combination with a disturbance observer is applied. It reproduces the hand movement with sufficient accuracy and lag-free. The required algorithm is put under test on a real-time operating system based on Linux and Preempt_RT in connection to a KRC4 robot controller. By using this setup, the welding results in a plane are of good quality and the robot movement coincides with the manual movement sufficiently.
|URI:||https://reposit.haw-hamburg.de/handle/20.500.12738/10875||ISSN:||2218-6581||Institute:||Forschungs- und Transferzentrum Intelligent Industrial Innovations
Department Maschinenbau und Produktion
Department Informations- und Elektrotechnik
Fakultät Technik und Informatik
|Type:||Article||Funded by:||Hamburgische Investitions- und Förderbank|
|Appears in Collections:||Publications without full text|
Show full item record
checked on Apr 15, 2021
Add Files to Item
Note about this record
Items in REPOSIT are protected by copyright, with all rights reserved, unless otherwise indicated.