Toward Welding Robot With Human Knowledge: A Remotely-Controlled Approach

Yu Kang Liu, Yu Ming Zhang

Research output: Contribution to journalArticlepeer-review

66 Scopus citations


This paper presents a remotely controlled welding scheme that enables transformation of human welder knowledge into a welding robot. In particular, a 6-DOF UR-5 industrial robot arm is equipped with sensors to observe the welding process, including a compact 3D weld pool surface sensing system and an additional camera to provide direct view of the work-piece. Human welder operates a virtual welding torch, whose motion is tracked by a Leap sensor. To remotely operate the robot based on the motion information from the Leap sensor, a predictive control approach is proposed to accurately track the human motion by controlling the speed of the robot arm movement. Tracking experiments are conducted to track both simulated movement with varying speed and actual human hand movement. It is found that the proposed predictive controller is able to track human hand movement with satisfactory accuracy. A welding experiment has also been conducted to verify the effectiveness of the proposed remotely-controlled welding system. A foundation is thus established to realize teleoperation and help transfer human knowledge to the welding robot.

Original languageEnglish
Article number6918556
Pages (from-to)769-774
Number of pages6
JournalIEEE Transactions on Automation Science and Engineering
Issue number2
StatePublished - Apr 1 2015

Bibliographical note

Publisher Copyright:
© 2004-2012 IEEE.


  • Motion tracking
  • predictive control
  • robot arm
  • teleoperation
  • welding

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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