Verlagslink: https://www.mdpi.com/2218-6581/9/2/30/htm
Verlagslink DOI: 10.3390/ROBOTICS9020030
Titel: Motion signal processing for a remote gas metal arcwelding application
Autorenschaft: Ebel, Lucas-Christoph 
Zuther, Patrick 
Maaß, Jochen  
Sheikhi, Shahram 
Schlagwörter: Kalman-Filter; Real-time system; Remote controlled Welding
Erscheinungsdatum: 1-Mai-2020
Verlag: MDPI
Zeitschrift oder Schriftenreihe: Robotics 
Zeitschriftenband: 9
Zeitschriftenausgabe: 2
Projekt: Mensch-Roboter Interaktion in der Schweißtechnik 
Zusammenfassung: 
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: http://hdl.handle.net/20.500.12738/10875
ISSN: 2218-6581
Begutachtungsstatus: Diese Version hat ein Peer-Review-Verfahren durchlaufen (Peer Review)
Einrichtung: Forschungs- und Transferzentrum Intelligent Industrial Innovations 
Department Maschinenbau und Produktion 
Department Informations- und Elektrotechnik 
Fakultät Technik und Informatik 
Dokumenttyp: Zeitschriftenbeitrag
Sponsor / Fördernde Einrichtung: Hamburgische Investitions- und Förderbank 
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