Research on adaptive adjustment of welding torch pose in wire and arc additive remanufacturing of hot-forging dies

Research on robotic multi-layer multi-pass welding planning of intersecting pipe

“…The walking angle is the included angle between the welding torch's axis and the welding seam's normal plane. When the walking angle is zero, the welding torch is on the normal plane of the welding seam [8][9] . Theaxis of the welding torch coordinate system { } is generally along the axis of the welding torch and points to the weld.…”