With a view to the problems existing in the combination of the application-oriented undergraduate teaching modes in theory and practice, the paper takes the innovative teaching mode of discipline competition special topic as the research object, tries to explore the effective ways and methods of application-oriented undergraduate to train professional talents, and studies the coordinated and balanced development mode in practice and theory. It discusses how the teaching mode of discipline competition runs through practice and theory, promotes further students to apply their professional theoretical knowledge through discipline competition, and puts forward the practical teaching system and method by which teachers can improve teaching efficiency by means of competition, stimulate students to understand practice, and effectively train students in problem analysis and solving, knowledge application and innovation.

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The thesis delves i nto the real i zation pol i cies of s i x DOF manipulator teleoperation and flexible control functions. According to binocular stereo visual system, robots are rendered to adapt themselves to the open working conditions, fully utilize their own i ntell i gent calculation methods to ach i eve independent accurate positioning, automatic grasping control without human participation, a real independent visual servo control system and the function of tracking and navigation

robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of "large scope of traversing", "triangle movement of two arms" and "spherical movement of one arm" was realized. The model of "triangle movement of two arms "is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the kinematic pair of kinematic mechanism for the arc filling strategy during welding travelling of robot. Binocular stereo vision camera was used to detect the edges of welds, and laser array sensor was used to measure the weld data. The matlab program is designed according to the shape of weld to calculate the amount of metal filling. Relevant date has been used to calculate the accuracy of the percent and analyze the factors that lead to the errors.