Abstract: An intelligent system for weld seam tracking is proposed. A king of direct-taking arc visual sensor is used to detect the weld and a self-tuning fuzzy controller is used to minimize the error of the seam tracking. The process of seam tracking can be observed through a monitor, and the parameter setting is realized by man-machine dialogue. A new method of seam image processing for determining the weld position on-line is also presented. The welding experiments show that the proposed system can realize the accurate seam tracking during the GTAW process.

Key words: Fuzzy controller, GTAW Visual sensor, Weld seam tracking