NDLI: End-point impedance measurements at human hand during interactive manual welding with robot

Content Provider	IEEE Xplore Digital Library
Author	Erden, M.S. Billard, A.
Copyright Year	2014
Description	Author affiliation: LASA Lab., Ecole Polytech. Fed. de Lausanne, Lausanne, Switzerland (Erden, M.S.; Billard, A.)
Abstract	This paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG welding on 1.5 mm thick stainless steel plates by manipulating the torch attached to the robot. The end-point impedance values are measured by introducing external force disturbances and by fitting a mass-damper-spring model to human hand reactions. Results show that, for professionals and novices, the mass, damping and stiffness values in the direction perpendicular to the welding line are the largest compared to the other two directions. The novices demonstrate less resistance to disturbances in this direction. Two of the professionals present larger stiffness and one of them presents larger damping. This study supports the hypothesis that impedance measurements could be used as a partial indicator, if not direct, of skill level to differentiate across different levels of manual welding performances. This work contributes towards identifying tacit knowledge of manual welding skills by means of impedance measurements.
Starting Page	126
Ending Page	133
File Size	769711
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906599
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Welding Force Impedance Impedance measurement Robot sensing systems Manuals
Content Type	Text
Resource Type	Article

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