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This article provides a comparative analysis of requirements for groove pre-operation before automatic welding. It was mentioned that the required accuracy of edge pre-operation could hardly be achieved under field conditions. A review of modern methods of welding adaptation was provided. Influence of groove geometry disturbances on formation of a root weld in the process of automatic MIG/MAG welding was investigated through a set of experiments. It was determined that critical values of a root gap and misalignment disturbances depended on the mean root face value. Recommendations on accuracy of assembling and edge machining were provided.

The paper proves a use of tracking systems for real-time control of automatic and robotic MIG/MAG welding. The basics of modern tracking systems based on the optical triangulation were provided. A review of recent applications of such systems in welding manufacturing was also presented. An adjustment algorithm, operation in the scanning mode and data logging were illustrated by the example of SLS050 («Meta Vision Systems» Ltd.) tracking system application. Critical analysis of the system was carried out. Pros and cons, application domains and requirements for the welding equipment to be used were determined. This paper also emphasizes further approaches to integration of SLS050 with automatic pipeline welding equipment.