A method of initial welding robot based onposition guiding for arc welding visual servo control

In order to solve the visual guiding task of initial welding position for arc welding robot, this paper presents a practice-prone image-based visual servo control strategy without calibration, and we perform validating experiments on a nine-DOF arc welding robot system. Experimental results illustrate presented method has the function to fulfill the task of welding robot initial positioning with certain anti-jamming ability. This method provides a basis for guiding welding gun to initial welding pose with real typical seam‘ s image properties to replace flag block properties, and is a significant exploit to realize visual guiding of initial welding position and seam tracing in robot welding system.