Abstract: A remote arc welding robot system has been built,consisting of a six DOF master maniplator,a helmeted stereo TV monitor system, a computer control system and a PUMA robot.The operation characteristics of the arc welding master-slave system and the coordination between eye and hand are studied.The experiments reveal that the eys-in-hand monitor mode can raise operation efficiency and the mode compounding the welding speed automatic control with slave-master opration can improve the operation steadiness and trajectory accuracy obviously.