DC FieldValueLanguage
dc.contributor.authorEbel, Lucas-Christoph-
dc.contributor.authorZuther, Patrick-
dc.contributor.authorMaaß, Jochen-
dc.contributor.authorSheikhi, Shahram-
dc.date.accessioned2021-04-08T06:53:27Z-
dc.date.available2021-04-08T06:53:27Z-
dc.date.issued2020-05-01-
dc.identifier.issn2218-6581en_US
dc.identifier.urihttps://reposit.haw-hamburg.de/handle/20.500.12738/10875-
dc.description.abstractThis 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.en_US
dc.description.sponsorshipHamburgische Investitions- und Förderbanken_US
dc.publisherMDPIen_US
dc.relation.ispartofRoboticsen_US
dc.subjectKalman-Filteren_US
dc.subjectReal-time systemen_US
dc.subjectRemote controlled Weldingen_US
dc.subject.ddc620: Ingenieurwissenschaftenen_US
dc.titleMotion signal processing for a remote gas metal arcwelding applicationen_US
dc.typeArticleen_US
tuhh.container.issue2en_US
tuhh.container.volume9en_US
tuhh.oai.showtrueen_US
tuhh.publication.instituteForschungs- und Transferzentrum Intelligent Industrial Innovationsen_US
tuhh.publication.instituteDepartment Maschinenbau und Produktionen_US
tuhh.publication.instituteDepartment Informations- und Elektrotechniken_US
tuhh.publication.instituteFakultät Technik und Informatiken_US
tuhh.publisher.doi10.3390/ROBOTICS9020030-
tuhh.publisher.urlhttps://www.mdpi.com/2218-6581/9/2/30/htm-
tuhh.type.opus(wissenschaftlicher) Artikel-
dc.relation.projectMensch-Roboter Interaktion in der Schweißtechniken_US
dc.type.casraiJournal Article-
dc.type.diniarticle-
dc.type.driverarticle-
dc.type.statusinfo:eu-repo/semantics/publishedVersionen_US
dcterms.DCMITypeText-
tuhh.container.articlenumber30-
item.creatorGNDEbel, Lucas-Christoph-
item.creatorGNDZuther, Patrick-
item.creatorGNDMaaß, Jochen-
item.creatorGNDSheikhi, Shahram-
item.openairecristypehttp://purl.org/coar/resource_type/c_6501-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.openairetypeArticle-
item.fulltextohne Volltext-
item.creatorOrcidEbel, Lucas-Christoph-
item.creatorOrcidZuther, Patrick-
item.creatorOrcidMaaß, Jochen-
item.creatorOrcidSheikhi, Shahram-
crisitem.author.deptDepartment Maschinenbau und Produktion-
crisitem.author.deptDepartment Informations- und Elektrotechnik-
crisitem.author.deptDepartment Maschinenbau und Produktion-
crisitem.author.parentorgFakultät Technik und Informatik-
crisitem.author.parentorgFakultät Technik und Informatik-
crisitem.author.parentorgFakultät Technik und Informatik-
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