1. MA Zhi-wei, ZHANG Hua, ZHENG Guo-yun. Structure design of mobile welding robot based on rotating arc sensor for bending weld [J]. Transactions of China Welding Institution, 2005, 26(11): 51–54. (in Chinese)
2. KAM B O, JEON Y B, KIM S B. Motion control of two wheeled welding Mobile Robot with seam tracking sensor [C]// Proceedings of EEE International Symposium on Industrial Electronics. Pusan: IEEE, 2001: 851–856.
3. JIANG Li-ping, JIAO Xiang-dong, LÜ Xue-qing. Key points of high efficient automatic welding technique for large scale spherical steel tank [J]. Chinese Journal of Mechanical Engineering, 2003, 39(8): 146–150. (in Chinese)
4. ZHANG Ke, LÜ Xue-qin, WU Yi-xiong. Algorithm for the entrance angle calculation of a welding mobile robot during auto-searching weld line [J]. Journal of Shanghai Jiaotong University, 2006, 39(6): 941–944. (in Chinese)
5. ZHANG Ke, WU Yi-xiong, JIN Xing, LÜ Xu-qing. Study on welding mobile robot with the function of auto-searching welding line [J]. China Welding, 2006, 15(1): 68–69.