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filling, Laser array sensor. Abstract: robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of "large scope of traversing ", "triangle movement of two arms" and "spherical movement of one arm" was realized. The model of "triangle movement of two arms "is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the kinematic pair of kinematic mechanism for the arc filling strategy during welding travelling of robot. Binocular stereo vision camera was used to detect the edges of welds, and laser array sensor was used to measure the weld data. The matlab program is designed according to the shape of weld to calculate the amount of metal filling. Relevant date has been used to calculate the accuracy of the percent and analyze the factors that lead to the errors.

Intelligent Control of Metal Filling by Welding Robots