为提高弧焊机器人的适应性和自动规划功能，研究了一种空间全位置焊接条件下的焊炬姿态自动规划系统。

In this paper, an automatic torch pose planning system for all position welding has been developed, for the purpose of improving flexibility and automatic planning ability of arc welding robot.

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然后主要从双丝或多丝电弧焊工艺和双焊炬组合焊接工艺两个大的方面着重介绍了纵列式熔化极气体保护焊、等离子弧-熔化极气体保护焊和双电极熔化极气体保护焊等高速弧焊工艺。

Then, high-speed arc welding processes are introduced, such as tandem GMAW, PAW-GMAW and DE-GMAW, based on two categories:twin or more wires arc welding process and two-torch combined welding process.

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