Abstract: The models of weld pose and welding gun pose, in which the position and the orientation of weld and welding gun are described precisely and quantificationally by coordinates, were established for robot arc welding. Then, welding position and welding gun orientation are represented by weld slope, weld rotation, work angle and traveling angle. The methods of calculating those parameters are also carried out. The parameters are easy to calculate and could directly reflect the factor that welding position and welding gun orientation affect welding quality. It is very important to model weld pose and welding gun pose for welding process modeling, simulating and off-line programming for robot welding.

Key words: Model of weld pose, Model of welding gun pose, Robot arc welding