Video game device haptic interface for robotic arc welding

Nichol, Corrie I.; Manic, Milos

doi:10.1109/hsi.2009.5091054

Cited by 7 publications

(2 citation statements)

References 13 publications

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“…Nichol and Manic [15] developed a haptic interface for teleoperating a remote arc welding robot, using force sensors installed on the end-effector to transmit forces encountered at the end-effector to the users of the haptic interface. The limitation of this system is that it relies on contact between the end-effector and the workpiece for users to follow the surface with haptic feedback.…”

Section: Related Workmentioning

confidence: 99%

Haptic and visual augmented reality interface for programming welding robots

Yew

Ong

et al. 2017

Adv. Manuf.

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It is a challenging task for operators to program a remote robot for welding manipulation depending only on the visual information from the remote site. This paper proposes an intuitive user interface for programming welding robots remotely using augmented reality (AR) with haptic feedback. The proposed system uses a depth camera to reconstruct the surfaces of workpieces. A haptic input device is used to allow users to define welding paths along these surfaces. An AR user interface is developed to allow users to visualize and adjust the orientation of the welding torch. Compared with the traditional robotic welding path programming methods which rely on prior CAD models or contact between the robot end-effector and the workpiece, this proposed approach allows for fast and intuitive remote robotic welding path programming without prior knowledge of CAD models of the workpieces. The experimental results show that the proposed approach is a user-friendly interface and can assist users in obtaining an accurate welding path.

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Section: Related Workmentioning

confidence: 99%

Haptic and visual augmented reality interface for programming welding robots

Yew

Ong

et al. 2017

Adv. Manuf.

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“…Such systems are applicable in many engineering areas, including robotic teleoperation, remote welding, and industrial control [23], [24]. This specific robotic architecture was chosen for its suitability for the systematic uncertainty robustness evaluation.…”

Section: Introductionmentioning

confidence: 99%

Uncertainty-Robust Design of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot

Linda

Manic

2011

IEEE Trans. Ind. Inf.

Self Cite

112

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Type-2 Fuzzy Logic Controllers (T2 FLCs) have been recently applied in many engineering areas. While understanding the control potentials of T2 FLCs can still be considered an open question researchers, commonly claim superiority of T2 FLCs based on a limited exploration of the space of design parameters. The contribution of this work is based on a problem-driven design of uncertainty-robust Interval T2 (IT2) FLCs. The presented methodology starts with a baseline optimized T1 FLC. Next, a group of IT2 FLCs is designed using partially dependent approach by symmetrically blurring the membership functions around the original T1 fuzzy sets. This constrained design space allows for its systematic exploration and analysis. The performance of the designed controllers was evaluated on delta parallel robot hardware under two kinds of commonly encountered uncertainties: i) sensory noise and ii) uncertain system parameters. The experimental results showed that IT2 FLCs provide improved control performance against T1 FLCs when appropriate design of IT2 fuzzy sets is performed. In addition, it was demonstrated that excessive amount of "type-2 fuzziness" in the IT2 FLC design leads to rapid performance degradation.Index Terms-Delta parallel robot, interval type-2 fuzzy logic control (T2 FLC), robustness, uncertainty handling.

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