scholarly journals Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding

2021 ◽  
Vol 11 (23) ◽  
pp. 11280
Author(s):  
Yun-Peng Su ◽  
Xiao-Qi Chen ◽  
Tony Zhou ◽  
Christopher Pretty ◽  
J. Geoffrey Chase

This paper presents an integrated scheme based on a mixed reality (MR) and haptic feedback approach for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed robotic tele-welding system features imitative motion mapping from the user’s hand movements to the welding robot motions, and it enables the spatial velocity-based control of the robot tool center point (TCP). The proposed mixed reality virtual fixture (MRVF) integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Onsite welding and tele-welding experiments identify the operational differences between professional and unskilled welders and demonstrate the effectiveness of the proposed MRVF tele-welding framework for novice welders. The MRVF-integrated visual/haptic tele-welding scheme reduced the torch alignment times by 56% and 60% compared to the MRnoVF and baseline cases, with minimized cognitive workload and optimal usability. The MRVF scheme effectively stabilized welders’ hand movements and eliminated undesirable collisions while generating smooth welds.

2022 ◽  
Author(s):  
Shuangfei Yu ◽  
Yisheng Guan ◽  
Zhi Yang ◽  
Chutian Liu ◽  
Jiacheng Hu ◽  
...  

Abstract Most welding manufacturing of the heavy industry, such as shipbuilding and construction, is carried out in an unstructured workspace. The term Unstructured indicates the production environment is irregular, changeable and without model. In this case, the changeable workpiece position, workpiece shape, environmental background, and environmental illumination should be carefully considered. Because of such complicated characteristics, the welding is currently being relied on the manual operation, resulting in high cost, low efficiency and quality. This work proposes a portable robotic welding system and a novel seam tracking method. Compared to existing methods, it can cope with more complex general spatial curve weld. Firstly, the tracking pose of the robot is modeled by a proposed dual-sequence tracking strategy. On this basis, the working parameters can be adjusted to avoid robot-workpiece collision around the workpiece corners during the tracking process. By associating the forward direction of the welding torch with the viewpoint direction of the camera, it solves the problem that the weld feature points are prone to be lost in the tracking process by conventional methods. Point cloud registration is adopted to globally locate the multi-segment welds in the workpiece, since the system deployment location is not fixed. Various experiments on single or multiple welds under different environmental conditions show that even if the robot is deployed in different positions, it can reach the starting point of the weld smoothly and accurately track along the welds.


2016 ◽  
Vol 85 (7) ◽  
pp. 657-662
Author(s):  
Satoshi YAMANE

Author(s):  
Aaron T. O’Toole ◽  
Stephen L. Canfield

Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, creating a kinematic model for localization and motion control of this architecture is complicated due to the fact that tracks necessarily slip and do not roll. Such a model could be based on a heuristic representation, an experimentally-based characterization or a probabilistic form. This paper will extend an experimentally-based kinematic equivalence model to a climbing, track-based robot platform. The model will be adapted to account for the unique mobility characteristics associated with climbing. The accuracy of the model will be evaluated in several representative tasks. Application of this model to a climbing mobile robotic welding system (MRWS) is presented.


2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.


1987 ◽  
Vol 20 (12) ◽  
pp. 293-298
Author(s):  
M. Kvasnica ◽  
Š. Petráš ◽  
I. Kočiš

2007 ◽  
Vol 23 (9-11) ◽  
pp. 843-849 ◽  
Author(s):  
Renaud Ott ◽  
Daniel Thalmann ◽  
Frédéric Vexo

Author(s):  
Elaine Thai ◽  
Anil R. Kumar

Mechanisms for training pool skills have evolved from manually setting up balls in different positions on the table and hitting them one-by-one to now using technology to precisely set up these plays and practice the game virtually. The aim of this study was to investigate how adding haptic feedback into a pool video game affects transfer of training into real-life pool skills. A 2 x 4 mixed factorial design was used to see how haptic feedback (its absence or presence) and four types of shots affect pool performance. Half of the participants experienced the pool video game without haptic feedback while the other half experienced it with haptic feedback. Performance before and after the video game practice was recorded as successful or unsuccessful, with a series of the same 40 pre- and post-video-game shots. Results from 38 participants are presented, and their implications are discussed.


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