Due to violent disturbance of the welding arc, signal processing is the key problem of ap-plication of the sensor. By means of the new technique the arc sensor can recognize not only V-groove but also lap joint and butt joint. The sensor has good recognition ability even for welding process with very large current disturbance, e.g. pulsed arc and short circuit welding process, etc. The proposed technique is developed on the basis of modern digital filtering theory and mathematic transformation of the signals from time domain into frequency domain.

The Influence of all variables, such as materials of a measured object, condition of its surface, distance, and shut off time m the measurement of temperature field by colorimetric method with ICCD as sensor, is analyzed theoretically and studied by experiments. The obtained results prove the feasibility and reliability of the developed method.

The real-time measurement of welding temperature field by colorimetric method is described, and with the data acquired from it closed-loop control system of the parameters of temperature field is developed and tested. Ex-perimental results prove that it has high measurement speed (time of a field within 0.5s) and good dynamic response quality. Weld penetration can be controlled satisfactorily under unstable welding condition.

本文介绍了以高速旋转电弧为传感器的弧焊机器人焊缝实时纠偏系统，首先设计了适应机器人要求的高速旋转电弧传感器，然后对电弧传感V形坡口焊缝的识别方法及铁水等干扰影响进行了研究，采用模糊控制技术进行焊缝实时纠偏，最后完成了V形坡口直线焊和角焊缝折线焊，取得了满意的焊缝纠偏结果

Arc sensor, one of the most popular and effective sensors for automatic seam tracking of arc welding, is systematically studied. A mathematic model of the static and the dynamic properties of the sensor derived on the basis of control theory and experimental method are described. The model extends our understanding of arc sensor from qualitative level to quantitative level. This is important for its design and further development.