Abstract: In the case where lap fillet welding is carried out by a conventional arc welding robot, when a weld wire is once departed towards an upper plate, the wire keeps being away from a weld line, and therefore, various teaching techniques so as to prevent such a departure have been re-required. In the case where a weld line is long, if the wire is departed, a defective weld length becomes long, thus posing an significant problem.The present invention provides a control method for an arc sensor by detection of a weld current. That is, a departure of a lap fillet weld towards an upper plate is prevented merely by addition of a detection algorithm, teaching can be simplified and practical merits are great.

Abstract: A method is disclosed for correcting the travel path of an oscillating robotic welding torch tracing a groove line defined by an upper and lower plate. According to one aspect of the invention, a first integrated value of the welding current at the center of oscillation is compared with second and third integrated values of the welding current at opposite first and second ends of the oscillation, respectively. The travel path of the robotic welding torches adjusted towards the second end of oscillation when the second and third integrated values of the welding current are smaller than the first integrated value of the welding current. According to another aspect of the present invention, a first integrated value of the welding current at the second end of oscillation of a previous oscillation torch is compared with a second integrated value of the welding current at the second end of oscillation of a subsequent oscillation.