Intuitive task programming of stud welding robots for ship construction

摘要

Ship construction is a major industry worldwide, and many tasks have been automated. One task that is still solely carried out manually is welding of studs. This paper presents a semi-autonomous approach to robotic stud the welding with focus on the HRI (Human-Robot Interaction). The welding itself is carried out autonomously by an autonomous industrial mobile manipulator (AIMM). An intuitive interface is proposed for the AIMM to ensure safe and correct operation. The interface allows non-expert operators to program, verify, and reprogram the robot's task on the manufacturing site. Task specific information is projected directly into object space as augmented reality using a projector mounted on the robot end-effector. Specifically, stud positions are shown on the ship wall before welding is initiated, and positions can be added, deleted, and moved using an IMU as pointing device. The contribution of this paper is an intuitive interface for on-site programming of stud welding robots; implemented in a skill-based task programming architecture. The system is designed and implemented, and proof-of-concept tests are presented.