Fei Gao Qinglan Chen Lanzhong Guo Study on arc welding robot weld seam touch sensing location method for structural parts of hull. 42-46 2015 ICCAIS https://doi.org/10.1109/ICCAIS.2015.7338704 conf/iccais/2015 db/conf/iccais/iccais2015.html#GaoCG15