Weld torch orientation is characterized with traveling angle, working angle and rotating angle. Path planning of arc welding robot includes below two.

• 弧焊机器人工作路径规划包括两方面的内容：一是以焊缝转角和焊缝倾角为描述参数，规划焊缝使之处于平焊或船形焊或小角度的下坡焊位置；