The definition of weld slope and weldrotation are described, and characteristics coordinates frame of seam are set up.
给出了焊缝倾角和焊缝转角的广义定义，提出建立焊缝特征坐标系的方法。
2
Welding pose includes weld position and torch orientation, which is represented by weld slope, weldrotation, torch work Angle and traveling Angle.
焊接位姿包括焊缝位置和焊枪姿态，可以用焊缝倾角、焊缝转角、焊枪工作角和焊枪行走角四个参数来表征。
3
According to the model of the welding position, giving a weld seam point, the weld orientation then can be resolved from the weldrotation Angle and the weld slope Angle.