To solve the problem of control to the welding torch 's gesture of pipeline welding robot, an intelligent control system of the torch' s gesture based on the expert system is presented.

针对管道焊接机器人焊枪姿态控制问题，提出了一种基于专家系统的焊枪姿态智能控制系统。

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Proved by experiment, the welding robot can adapt the desire of pipeline girth-welding with complex landform.

实验表明这种焊接机器人可以适应复杂地形处油气管道的全位置环形焊接。

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