Mobile welding robot system based on rotating arc sensor applied for large fillet welding seam tracking

This paper presents a new mobile welding robot system which based on rotating arc sensor as the seam tracking sensor. The system includes wheeled mobile body, two-dimensional motion platform, rotating arc sensor and ultrasonic sensor which uses as obstacle avoidance sensor. Two stage of tracking strategy is used in the system, that is the robot body rough tracking and the two-dimensional motion platform accurate tracking. The kinematic model of system was established and the parameter self-tuning fuzzy controller was designed. Experimental results shown that the robot system can achieve automatic large fillet welding seam tracking in narrow spaces.