介绍了一种实现协调运动的弧焊机器人系统。该机器人系统的一个特点是通过使用三维视觉传感器简化了协调运动的教学任务。视觉传感器检测目标焊接坡口的三维形状，并修改协调运动，以实现理想的焊接。实验结果表明了该机器人系统的适用性。

AN ARC WELDING ROBOT SYSTEM TO REALIZE COORDINATED MOTIONS IS DESCRIBED IN THIS PAPER. ONE FEATURE OF THIS ROBOT SYSTEM IS THAT THE TEACHING TASK OF COORDINATED MOTIONS IS SIMPLIFIED BY EMPLOYING A THREE-DIMENSIONAL VISION SENSOR. THE VISION SENSOR DETECTS THE THREE- DIMENSIONAL SHAPE OF THE TARGET WELDING GROOVE AND MODIFIES COORDINATED MOTIONS SO THAT THE IDEAL WELDING CAN BE REALIZED. EXPERIMENTAL RESULTS REVEAL THE APPLICABILITY OF THE ROBOT SYSTEM.