This paper presents welding torch pose model and interpolation algorithm of trajectory control of saddle-shaped weld formed\nby intersection of two pipes; the working principle, interpolation algorithm, welding experiment, and simulation result of the\nautomatic welding system of the saddle-shaped weld are described. A variable angle interpolation method is used to control the\ntrajectory and pose of the welding torch, which guarantees the constant linear terminal velocity. The mathematical model of the\ntrajectory and pose of welding torch are established. Simulation and experiment have been carried out to verify the effectiveness\nof the proposed algorithm and mathematical model. The results demonstrate that the interpolation algorithm is well within the\ninterpolation requirements of the saddle-shaped weld and ideal feed rate stability.
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