Identifying Welding Skills for Robot Assistance

Abstract

This paper aims at identifying the differences human, and inexperienced people could easily perform good between skilled and unskilled welders by analyzing the position welds. These are important considering the scarcity of skilled data obtained with a 3D motion capture system. Using the welding personnel and for reducing the costs of captured position data of various markers on the arm of the manufacturing. welder and the welding torch, the tip point position of the torch, With a human assist welding robot system (Fig. 1), the the elbow angle and roll angle of the human arm are h constructed. These constructed values are analyzed. The time human can control the process (adjust the variables and domain analysis reveals that a skilled welder has better control maintain proper torch speed and positioning) while the robot over 1) the movement of the torch tip in the perpendicular assists the human in suppressing uncontrolled vibrations, direction to the welding line, 2) the height of the torch tip from avoiding a priori known improper movements of the torch, the welded material, and 3) the speed of welding through the providing the power for lifting the torch, and placing the welding line. The frequency analysis shows that the amount and torch in awkward positions. This paper aims at determining amplitude of vibrations are larger with the unskilled welders. t The statistical analysis reveals that the difference of variation of the uncontrolled vibrations and improper torch movements in the parameters between the skilled and unskilled welders is the welding of an unskilled welder in comparison to a skilled significant.one. The knowledge derived from such a study can be used to control the human assist welding robot. Harada et al. I. INTRODUCTION(2002) have briefly reported a study on measurement of A successful arc welding necessitates managing three manual welding skills. They have concluded that an expert is phases of the process in an optimal way: Setting the able to maintain a stable motion of the torch and adapt to the parameters (initial voltage) and selecting the materials changing welding current, but an unskilled welder is not. (shielding gas, filling material) before the welding; adjusting It is hypothesized that the skill to minimize uncontrolled the variables while welding (voltage, wire feed rate); and vibrations and maintain a regular torch speed profile are the maintaining the torch position, orientation and speed during two important differences between a skilled an unskilled the welding (Pires et al., 2006). This paper is concerned with welder. This paper aims at identifying the characteristics the third phase, namely maintaining the torch position and (magnitude, frequency, range) of these features by collecting speed throughout welding. and comparing the position profile data of a number of Fully automated robots are widely used for welding in the skilled and unskilled welders. The position data of the industry (Pires et al., 2003; Yagi, 2004; Lima II et al., 321). various parts of the human arm...

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