During the process of welding the lattice-shaped welding seam in the hall

the environment information around the welding seam can not be obtained totally only by the arc sensor.It is difficult to weld the right-angle seam automatically.A method of welding the right-angle seam automatically is designed

in which the obstacle is found by the ultrasonic sensor using its range finding principle instead of the touch sensor;and the deviation is gained by the arc sensor.With the reasonable control to the robot

the welding of the right-angle welding seam with seam automatic tracking can be finished.