Abstract
There are lots of rectangular fillet welds in the shipyard, and it is mainly welded by manual welding with low accuracy and poor reliability, so it is necessary to study a welding robot that can accurately track the rectangular fillet weld. Firstly, the mathematical model of the space posture of the arc welding gun has been established, path planning of the rotation of the welding robot has been studied when the welding robot tracks the linear fillet weld, and the inclination angle of the arc welding gun has been identified. Secondly, the control algorithm of the linear fillet weld tracking has been studied, and the tracking algorithm of the rectangular fillet weld has been researched. Finally, the tracking experiment of the rectangular fillet weld has been done in the laboratory and the shipyard. Experimental results showed that welding accuracy and reliability could be improved by using robotic welding instead of manual welding.
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