Ship construction is a major industry worldwide, and many tasks have been automated. One task that is still solely carried out manually is welding of studs. This paper presents a semi-autonomous approach to robotic stud the welding with focus on the HRI (Human-Robot Interaction). The welding itself is carried out autonomously by an autonomous industrial mobile manipulator (AIMM). An intuitive interface is proposed for the AIMM to ensure safe and correct operation. The interface allows non-expert operators to program, verify, and reprogram the robot's task on the manufacturing site. Task specific information is projected directly into object space as augmented reality using a projector mounted on the robot end-effector. Specifically, stud positions are shown on the ship wall before welding is initiated, and positions can be added, deleted, and moved using an IMU as pointing device. The contribution of this paper is an intuitive interface for on-site programming of stud welding robots; implemented in a skill-based task programming architecture. The system is designed and implemented, and proof-of-concept tests are presented.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Intuitive task programming of stud welding robots for ship construction


    Contributors:


    Publication date :

    2015-03-01


    Size :

    803895 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Stud welding

    Engineering Index Backfile | 1945


    Nelson stud-welding

    Engineering Index Backfile | 1949


    Stud welding comes aboard

    McArthur, W.E. | Engineering Index Backfile | 1951



    Jig for welding a stud nut and method for welding the stud nut

    YOON KUK WON / MOON JOUNG HYUN / PARK PYEONG WON et al. | European Patent Office | 2018

    Free access