Abstract
In order to improve the quality and the efficiency of welding right-angle fillet weld, reduce the labor intensity of workers, it is necessary to research the tracking algorithm of right-angle fillet weld. The mathematical model of the space posture of the arc welding gun was established, and the recognition algorithm of the inclination angle of the arc welding gun was designed. When the welding robot was welding right-angle fillet weld, the path planning of the robot was studied. By using the method of pattern recognition, the cross point of right-angle fillet weld was identified accurately. The realization algorithm of right-angle fillet weld tracking was studied, and the welding speed was a constant. Tracking experiment of right-angle fillet weld was done in the laboratory and shipyard, and experimental results showed that the robot could track right-angle fillet weld with high accuracy and good reliability by using the designed algorithm.
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