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介绍ＸＺ－Ⅰ型弧焊机器人操作机结构与机构设计，位置交流伺服控制系统及计算机控制软件特点，给出了主要算法。
This paper introduces the structure and mechanism design of XZ-Ⅰ arc welding robotic manipulator, the characteristics of position AC servo control system and computer control software, and presents the main algorithms.