In an arc-tracking welding method and a welding device of the present invention, a deviation amount between a weaving center and a welding line is obtained based on a first relationship and a second relationship. The first relationship is a relationship between a weaving position and any one element of three electrical first to third elements related to Ohm's law, the relationship being obtained based on a physical model of an arc welding phenomenon and being associated with the deviation amount. The second relationship is a relationship between the weaving position and the element, the relationship being obtained based on the element in welding power.

In some examples, robotic welding systems facilitate the conversion and/or translation of human perceptible operator instructions into machine readable robot instructions via a robot instruction generation process. The automatic generation of robot instructions via the robot instruction generation process has the potential to save substantial time and energy that would otherwise have to be invested by robot programmers and/or welding experts to manually generate the robot instructions. By following the generated robot instructions, the robot is able to perform the same assembly process that a human operator would perform by following the operator instructions. Additionally, because substantial time and/or effort has often been spent honing and/or improving the human perceptible operator instructions to ensure the human operator executes the welding-type operations efficiently and/or effectively, robot execution of robot instructions generated based on the operator instructions is likely to result in similarly efficient and/or effective welding-type operations and/or part assembly.

In some examples, a robotic welding system comprises a robot configured pause execution of a robot welding sequence while a human operator performs some human operation related to the robot welding sequence. In some examples, the robot instructions that instruct the robot to pause may be generated dynamically, such as during execution of the robot welding sequence. In some examples, the robot instructions that instruct the robot to pause may be generated at the same time as the rest of the robot instructions of the robot welding sequence. The ability of a robotic welding system to anticipate and/or accommodate human participation and/or human operations during a robot welding sequence opens numerous possibilities for increased human/robot collaboration