Research on smooth control of process parameters for pipeline automatic welding robot

In all position welding, the reasonable setting of welding process parameters at different positions and effective control of smooth transition are one of the difficulties in the automation of pipeline circumferential welding process. According to the process parameter requirements of all position welding, the welding trajectory is divided into spatial segments, and a cubic interpolation fitting algorithm is designed to achieve a smooth transition of welding parameters between each segment. According to the strategy requirements of parameter control, a PID control system was designed to improve the dynamic characteristics during the parameter adjustment process, achieving precise control of welding parameters and smooth transition.