Inside weld produced cracks are often faced problem by adopting wide coil with small forming Angle to produce small size spiral submerged welded pipe.

采用宽板小成型角生产小口径螺旋缝埋弧焊钢管时，内焊缝产生裂纹是经常遇到的问题。

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Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, 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。

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According to the model of the welding position, giving a weld seam point, the weld orientation then can be resolved from the weld rotation Angle and the weld slope Angle.

根据焊缝位置的数学模型，得到了描述焊缝焊接位置的参数——焊缝转角和焊缝倾角与焊缝姿态的关系。

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