The mathematical models are introduced to describe weld position and weld torch orientation according to welding process custom. Weld position is characterized with tilting angle, deflecting angle and drifting angle of weld.

• 为了按焊接工艺习惯描述焊接位置和焊枪姿态，本文引入了适合弧焊工艺特点的焊接位置与焊枪姿态的数学模型，即用焊缝倾角、焊缝转角和焊缝偏角表示焊接位置，用焊枪行走角、焊枪工作角和焊枪自转角表示焊枪姿态。