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End-point impedance measurements at human hand during interactive manual welding with robot
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
This paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its endeffector. The subjects perform TIG welding on 1.5 mm thick stainless steel plates by manipulating the torch
doi:10.1109/icra.2014.6906599
dblp:conf/icra/ErdenB14
fatcat:njanmpebjjagrlcy3ggjo7x27m