Abstract: By establishing the mathematical model of the torch's spatial attitude when the rotary arc sensor scans the V-groove weld seam, extracting three-dimensional information of welding torch, combining the characteristics of V-groove weld, the transformation matrix between tool coordinate system and base coordinate system of ABB robot after correcting deviation of welding torch is derived. Combining the inverse kinematics of the robot, mathematical model of tracking and correcting deviation of V-groove weld by ABB robot is established, an Asymptotic Particle Swarm Optimization algorithm is proposed for solving the model. Last, the model is simulated and analyzed by using LABVIEW and the algorithm, the left and right tracking deviations and the high and low tracking deviations are obtained. The accuracy and validity of the model and the efficiency of the algorithm are verified, it provides a theoretical basis for the automatic welding of V-groove weld by the combination of rotating arc sensor and ABB robot.