Teleteaching approach for sensor-based arc welding telerobotic system

Purpose - This paper aims to develop a performing approach for telerobotic arc welding in an unstructured environment. Design/methodology/approach - A teleteaching approach is presented for an arc welding telerobotic system in an unstructured environment. Improved laser vision sensor enhances the precision of teleteaching welding seam. Stereoscopic vision display system is developed to provide the perception information of remote environment that increased the dexterity of the teleteaching process. Operator interacts with the system by welding multi-modal human-machine interface, which integrated the teleteaching operation window, status display window and space mouse. Findings - The sensor-based teleteaching approach, which integrated laser vision sensing and stereoscopic vision display, can perform arc welding of most welding seam trajectory in an unstructured environment. The approach releases the payload of human operator and improves adaptability of the arc welding system, Research limitations/implications - The paper provides the remote welding telerobotic approach that is gentle to most unstructured environments. Practical implications - The sensor-based teleteaching approach provides the capability of a telerobotic system used in remote welding field, which can shorten the incident response time and maintenance period of nuclear plants, space and underwater. Originality/value - This paper introduces the sensor-based teleteaching concept and performing procedure to be used for remote telerobotic arc welding.