Study on welder training by means of haptic guidance and virtual reality for arc welding

Gaining and improving welding skill is important for welders. The advent of virtual reality (VR) technology provides a new kind of medium for skill training. In this paper, a haptic arc welding training method is proposed based on VR and haptic guidance. The training method is designed to emulate the presence of a human tutor which feedbacks forces to a welder to show the proper force/position relation within pre-defined trajectories for attaining hand-mind-eye coordination skills in a virtual environment. Three basic welding operation skills, namely maintaining the proper arc length, maintaining the proper electrode angle, and maintaining the proper traverse speed are selected for training. The Phantom haptic device is used as the haptic interface. The haptic guidance is realized with proportional-plus-derivative (PD) feedback control of the error between the current and ideal trajectory. The proposed method is cost-less, effective, and environment-friend for the training of both novice and skilled welders.