Space curved fillet weld joints tracking by robots based on rotational arc sensors in gas metal arc welding

Purpose This study aims to improve the welding quality and efficiency, and an algorithm should be designed to realize tracking space-curved fillet weld joints. Design/methodology/approach Fillet weld joints tracking based on the two wheels and the horizontal slider coordinated movement has been studied. The method of pattern recognition is used to identify the height deviation, and the analysis of the accuracy corresponding to recognizing height deviations has been researched. The proportional control algorithm is used to control the vertical and horizontal sliders movement, so fillet weld joints tracking in the height direction has been achieved. Based on wheels and vertical and horizontal sliders coordinated movement, the algorithm of space-curved fillet weld joints tracking has been researched. Findings Some experiments have been done, and experimental results show that the welding robot can track space-curved fillet weld joints with high accuracy and good reliability. Research limitations/implications The welding robot can improve the welding quality and efficiency. Practical implications The welding robot can track fillet weld joints in ship panels, and it was shown that the welding robot could track space-curved fillet weld joints with high accuracy and good reliability. Social implications The welding robot has many industrial and social applications. Originality/value There are various forms of fillet weld joints in the industry, and the fillet weld is curved in the space. Experimental results show that the welding robot can track space-curved fillet weld joints with good stability and high precision.