Abstract: The transient values of welding voltage and current are measured in real-time under the condition of arc welding robot-based seam tracking on V groove of 10 mm-thick mild steel plates. Statistical processing for the transient values are carried out for two times, and the characteristic vector is set up for describing the welding electrical parameters under different levels of weaving amplitude and frequency. Employing the fuzzy pattern recognition technique, the relationship between the characteristic vector and the weaving amplitude & frequency is developed to provide the basis for analyzing quantitatively the effects of weaving amplitude & frequency on weld penetration of V groove joints.

Key words: Arc welding robot, Pattern recognition, Weaving amplitude, Weaving frequency, Weaving welding