The invention discloses a curved weld joint tracking method based on weld joint
industrial robot postures. The curved weld joint tracking method comprises the steps that boundary points of a weld joint portion are selected to build a space coordinates
system for the X axis, the Y axis and the Z axis, the position of a weld
joint point is represented through the space coordinates
system, connectinglines among points in the weld joint position are curved lines, connecting tracks among the points are calculated through a space curve formula, and weld joint tracks of the curved lines are determined. According to the curved weld joint tracking method based on the weld joint
industrial robot postures, through combination of a
feature recognition camera and a measuring sensor, weld joint featurepictures extracted from a
robot are subjected to
coordinatograph, the weld joint shapes of the curved lines are represented with points in the space, and then a
welding gun is controlled to sequentially weld the points; meanwhile, by eliminating position differences of a body, errors of the weld joint position are avoided, and the weld joint precision is improved; and the
welding gun adopts the form of a
bulb base, moving in the space is convenient, the
welding precision is higher, the welding position is more flexible, the welding position is determined through testing data, the
automation degree is higher, and operation is convenient.