Print Email Facebook Twitter Robot Assistance for Manual Welding Title Robot Assistance for Manual Welding Author Maric, S. Contributor Erden, M.S. (mentor) Tomiyama, T. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Biomechanical Engineering Date 2009-10-26 Abstract In this thesis, manual welding with robot assistance is studied. A variable impedance control scheme is developed to suppress the undesired movements of unskilled welders. The impedance parameters of damping and mass are investigated. Mass increases the undesired movements and is disregarded. Damping decreases the undesired movements, helping to derive an optimum damping value. A variable impedance control scheme is applied to ease the transferring of the torch while not welding. A switch is built that facilitates the movement of the torch between performance and transferring phases. Test results show that with robot assistance an unskilled welder is better able to track the seam, and the welds are straighter and more uniform in width. Subject manual weldingrobot assistanceimpedance To reference this document use: http://resolver.tudelft.nl/uuid:c2493d3c-d8a7-48e2-866e-9b5240ca3a44 Part of collection Student theses Document type master thesis Rights (c) 2009 Maric, S. Files PDF Robot_Assistance_for_Manu ... _maric.pdf 2.58 MB Close viewer /islandora/object/uuid:c2493d3c-d8a7-48e2-866e-9b5240ca3a44/datastream/OBJ/view