Abstract
Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom (DOF), an industrial computer control system and a slave Motoman HP3J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator's tremor signal.
| Original language | English |
|---|---|
| Pages (from-to) | 63-66 |
| Number of pages | 4 |
| Journal | China Welding (English Edition) |
| Volume | 20 |
| Issue number | 2 |
| State | Published - Jun 2011 |
Keywords
- Digital filtering
- Hand tremor
- Master-slave teleoperation
- Remote welding
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