Welding assistance method for a robot device

A welding assistance method between two parts along a weld line using a welding system allowing an operator to carry out welding operations remotely, the welding system comprising:

• a robotic device carrying a welding torch, said robotic device being associated with a robot coordinate frame;
• a man-machine interface configured to generate movement instructions for moving the robotic device;
• a controller configured to receive the movement instructions from the man-machine interface and to control the robotic device according to the movement instructions received via a communication link;
• and
• the welding assistance method comprising:
• defining, through the operator, reference points on at least one of:
• the parts to be welded and the weld line to be followed;
• defining a general direction of movement of the welding torch from the reference points;
• defining a local coordinate frame with respect to the general direction of movement of the welding torch;
• automatically moving the welding torch from a welding initial point in the general direction of movement;
• generating a flow of movement instructions linked to actions of the operator on the man-machine interface to move the welding torch away from the general direction of movement in order to adapt in real-time a trajectory of the welding torch to a real shape of the weld line;
• processing, through the controller, the flow of movement instructions generated by the man-machine interface in order to deduce therefrom a desired speed vector or a desired position in the local coordinate frame;
• and
• effectively moving the welding torch corresponding to the desired speed vector or to the desired position in the local coordinate frame.