Welding robot should be equipped with sensor arrangement, i.e.:

- tactile sensor, placed in welding head - it has to limit movement of robot head in case of hindrance meeting,

- optical sensor of distance to recognise surface of welded elements and to detect internal breaks of construction,

- sensor measuring current and voltage of welding bow - it makes possible correction of height of burner and its transverse position,

- optical laser sensor qualifying real geometry of welding crevices - crevice parameters are introduced to the computer (fig.4 - control program) controlling robot aiming at correction of the theoretical data from the project program.

　

Fig. 4 Schema of welding robot control

　

5. CONCLUSIONS

　

The first step aiming at the ship production automation and robotics has been done in Polish shipbuilding. Implementation of the TRIBON system allows to change traditional manner of creation of the technical documentation and ship manufacturing. The next step will be introduced by building the welding stand equipped with robots - to produce micropanels in the beginning and then - to weld double bottoms sections. Co-operation of Szczecin Shipyard and the University will allow relevant investments and proper scientific support.

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