The invention discloses an oceanographic
engineering complex node multi-
robot welding cooperative control method which comprises the following steps: Step 1, importing a model, and performing weld
joint point selection and
information extraction, Step 2, calculating a weld joint equation, Step 3, selecting one weld joint of a main
welding robot, Step 4, selecting one weld joint of an auxiliary
welding robot which works at the same time, Step 5, discretizing weld
joint coordinates, Step 6, performing coordinate conversion on main and auxiliary weld joints under a
global coordinate system, Step7, performing inverse motion calculation on the main and auxiliary weld joints to obtain joint corner data of the main and auxiliary welding robots, Step 8, repeating the Step 3 to the Step 7 until all calculation is completed, and Step 9, generating a welding
robot motion instruction to realize cooperative welding of the welding robots. According to the method, the welding efficiency is improved,the welding cost is reduced, the operation process is simplified, the welding quality is improved, and the multi-
robot welding cooperative control method is easy to operate, visual in result, stable,reliable and wide in adaptability.