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

Mustafa Suphi Erden, Aude Billard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages126-133
Number of pages8
ISBN (Electronic)9781479936854
DOIs
Publication statusPublished - 29 Sep 2014
Event2014 IEEE International Conference on Robotics and Automation - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Conference

Conference2014 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2014
CountryChina
CityHong Kong
Period31/05/147/06/14

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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