Skill Assistance with Robot for Manual Welding

-SkillAssist-

by Mustafa Suphi Erden

Marie Curie Intra-European Fellowship, Project No: 297857

 

 

Host Institute:

Learning Algorithms and Systems Laboratory (LASA), École Polytechnique Fédérale de Lausanne

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Objective

The goal of this project was to develop a quantifiable measure of skills required to perform complex tasks that are typical of manual welding in the industry and use this knowledge for robotic assistance and training purposes. Airbrush painting was also used as a test platform to quantify the skill difference between dominant and non-dominant hand performances, prior to the welding experiments. Automation of welding is not always possible due to the complexity and variety of welding tasks. Many industries still rely on manual welding. This project aimed to link the human assistive robotics research with the industrial manufacturing, particularly with manual welding. The project aimed, first, to develop an understanding of the differences between professional and novice welders in terms of hand-impedance and position variation measurements, and, then, to develop two robotic systems, one for assisting manual welding and one for training of novice welders with a robot. The basic objectives of the project were as follows:

  1. Performing impedance measurements across professional and novice welders while doing welding interactively with a robot, as well as across dominant versus non-dominant hands while doing airbrush painting with the same system.
  2. Identifying the differences between professional and novice welders, as well as dominant versus non-dominant hand performances, in terms of impedance and position variations
  3. Developing a robotic assistance scheme for manual welding as well as for airbrush painting.
  4. Developing a robotic training system for manual welding.