Tracking on Right-Angle Weld with Drain Holes by Robot

In order to complete the automatic tracking on the grate weld by robot, it is necessary to track the right-angle weld with drain holes accurately. To track the welding seam, the welding current which is collected should be filtered and identified the deviation. Then the stretch and the indent of the horizontal slider or the left-and-right-wheels differential movement of the robot should be controlled. When the robot hasn't entered the stage of quarter turn, it is based on the tracking fillet welding of left and right wheels differential movement. When at the stage of quarter turn, the welding is completed through path planning and tracking fillet welding based on the horizontal slider stretch. Extinguish the arc when the starting point of a drain hole has been detected. Ignite the arc after passing through drain holes with path planning. The accurate identification of intersection is very important when the robot is in the quarter turn stage. Finally, the correctness of the algorithm is proved by the experiments of tracking on right-angle weld.