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

In the multi-layer multi-pass welding of intersecting pipe fittings, the traditional teaching method is labor-intensive and has low welding accuracy. To weld more intelligently and accurately, this paper proposes a robotic multi-layer multi-pass welding filling strategy, determines the layout points of the weld passes, and plans the pose of the welding torch. In addition, this paper gives the transformation relationship between the welding seam coordinate system and the welding torch coordinate system, and finally simulates the weld passes.