Abstract: Manual welding will still be irreplaceable in applications where the needed versatility and accessibility cannot be achieved by robots,and it’s a long-term and major task to eliminate the dependence of weld quality on the welder skills in manual welding. Based on the monitoring of the adjustment of current and welding speed in welding process by the skilled welder,and then the experience of skilled welder was learned. Through the machine-human coordinated control system,the primary welding skills was made up,which realizes the transfer of the experience from skilled welder to primary welder. The relational model of welding current and welding speed obtained by learning from skilled welder,not only can be applied to the proposed machine-human collaboration welding system,but also can be extended to the field of automatic welding,and provides the technical support for the full penetration welding.