Abstract
The paper examines the problem of adaptation to inexact prepared or inaccurate positioned parts when welding by industrial robots, an idea for adaptive control is presented, based on the parts deviation from their preliminary taught model, an example of the model is described for the case of strightforward joint, taking into account the welding torch position and the sensor parameters, results from experiments made with the arc welding robot re 251 are presented, some noice and accuracy problems are discussed, and suggestions for further developments are given.
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