Abstract: A method for performing coordinated stationary tracking during a welding operation performed on a cylindrical part includes mounting a cylindrical part on a rotating arm having a central rotational axis and directing a welding torch to a weld position wherein the welding torch is directed toward an initial weld joint position. The rotating arm is rotated about the central rotational axis thereof to provide relative movement between the cylindrical part and the welding torch when the welding torch is positioned at the weld position. During the rotating of the rotating arm the welding torch remains substantially stationary while a tracking sensor of the welding robot periodically determines geometric information of the cylindrical part based on a rotational position of the rotating arm. The geometric information regarding the cylindrical part is then used to determine vertical and lateral offsets to be applied to the welding torch relative to the weld position.

Abstract: A method for performing coordinated stationary tracking during a welding operation performed on a cylindrical part includes mounting a cylindrical part on a rotating arm having a central rotational axis and directing a welding torch to a weld position wherein the welding torch is directed toward an initial weld joint position. The rotating arm is rotated about the central rotational axis thereof to provide relative movement between the cylindrical part and the welding torch when the welding torch is positioned at the weld position. During the rotating of the rotating arm the welding torch remains substantially stationary while a tracking sensor of the welding robot periodically determines geometric information of the cylindrical part based on a rotational position of the rotating arm. The geometric information regarding the cylindrical part is then used to determine vertical and lateral offsets to be applied to the welding torch relative to the weld position.