On teleoperation of an arc welding robotic system

摘要

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.