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。
The definition of weld slope and weld rotation are described, and characteristics coordinates frame of seam are set up.
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。
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.
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。
Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, torch work Angle and traveling Angle.
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