Seam tracking control of robotic arc welding systems

On-line path correction for arc welding robots is described in the context of robot programming and sensor integration. Controller interface requirements are discussed in terms of the level of end-point control achievable using an external smart sensor interface. The self teaching ability that dynamic seam tracking creates for both robot and robot-positioner combinations is described. The resulting modular system provides a plug-in seam tracking capability to a variety of robot platforms.