A method for 2-D robot seam tracking based on structured-light visual sensor is presented which combines visual teaching and correcting.The visual sensor is used to measure and record the coordinates of the teaching points and real points on the seam by template matching,then the deviations between teaching path and real path can be figured out.According to the deviations,the ABB robot can adjust the position of welding gun automatically to realize the real-time tracking.At last,an experimental system that ...