Algorithm research of the starting point detecting function used in welding robot

The starting point detecting function is used in the welding robot. Currently, it is only used when the workpiece has translated. However, in practice, the workpiece is not only translation, but also rotation. Therefore, algorithm research of the starting point detecting function has important significance to the practical application of the welding robot. The principle of the starting point detecting function is analyzed. The algorithm of the starting point detecting function which only used to detect two surfaces is studied systematically. The mathematical expressions are proposed based on the coordinate translation and the coordinate rotation. The errors between the taught and actual positions of the starting point of the welding groove are obtained. A teaching example of the starting point detecting function is given. The algorithm is used to weld the plastics machinery frame. The research results of this paper are useful for the practical application of the starting point detecting function.