Predictive control for robot arm teleoperation

Yukang Liu, Yuming Zhang, Bo Fu, Ruigang Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations


This paper presents a robotic welding teleoperation system that can learn the skilled welder's behavior and transfer human intelligence into welding robots. In this system a 6-DOF robot arm is equipped with a compact 3D weld pool sensing system. The motion of the human welder movement is tracked accurately by the Leap sensor. A predictive control algorithm is proposed to control the speed of the robot arm movement. Tracking experiments are conducted to track pre-set movement with varying speed and human hand movement. It is found that the robot with the proposed speed control algorithm is able to track human hand movement with acceptable accuracy. A foundation is thus established to realize welding teleoperation and transfer human intelligence to the welding robot.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Number of pages6
StatePublished - 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


Conference39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013


  • 3D
  • Motion tracking
  • Predictive control
  • Robot Arm
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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