A　feature　extraction　and　trajectory　planning　strategy　for　planar　fillet　welds　based　on　3D　point　cloud　was　proposed　to　solve　the　automatic　identification　of　weld　seams　and　automatic　robot　tracking　welding.　Firstly,the　workpiece　to　be　welded　was　extracted　based　on　the　difference　point　cloud　segmentation　method,and　the　point　cloud　pre-processing　was　performed.　Secondly,in　order　to　obtain　the　feature　points　of　the　weld　seam,the　workpiece　structure　segmentation　feature　extraction　algorithm　was　proposed.　Then　a　path　fitting　method　based　on　NURBS　curves　was　fitted.　Finally,a　robot　position　estimation　method　for　welding　points　was　proposed　to　obtain　the　position　of　each　path　point　for　welding.　This　strategy　is　applicable　to　the　weld　seams　of　straight　lines　and　various　planar　curves.　The　experimental　results　showed　that　the　strategy　can　accurately　extract　the　position　of　the　fillet　weld　seam　and　generate　the　required　position　of　track　points,with　the　maximum　error　of　each　axis　controlled　within　1　mm　and　the　total　time　consumed　no　more　than　18　s,which　provides　a　valuable　reference　for　efficient　automated　welding.　©　2025,　Northeast　University.　All　rights　reserved.