NDLI: On teleoperation of an arc welding robotic system

Content Provider	IEEE Xplore Digital Library
Author	Hou Ming Yeo Song Huat Wu Lin Zhang Hui Bin
Copyright Year	1996
Description	Author affiliation: Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore (Hou Ming; Yeo Song Huat)
Abstract	A remote arc welding robotic 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 arc welding master-slave teleoperation characteristics and the hand-eye coordination are discussed. In this paper, it is 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.
Starting Page	1275
Ending Page	1280
File Size	439495
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.506882
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Welding Master-slave Robot kinematics Automatic control Computerized monitoring Remote monitoring Manipulators Control systems Robotics and automation Stability
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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