Interpolation Algorithm and Mathematical Model in Automated Welding of Saddle-Shaped Weld

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