Development of Remote Welding System toward Repairment of RC Building

Abstract

We have been developing a welding robot aimed at repairing half-collapsed buildings in disaster area. In this study, we propose a welding system that performs fillet welding on a curved surface with a 6-DOF robot arm by remote control. When a welding path is roughly specified on the image captured by the RGB-D camera attached to the robot, it is possible to correct the welding path using a touch sensor. In addition, the system is developed using ROS for efficient development. In the experiment, we confirmed that the developed system is able to perform fillet welding on a buckled plate remotely.