Research on Trajectory Planning Method Applied to Intersecting Line Smooth Cutting

The cutting quality of intersecting lines can be affected by cutting model and cutting process. To improve that, this paper builds a round pipe-intersecting cutting model connected by branch pipe internally without groove according to the principle of intersecting, and it uses the smooth transition algorithm for the cutting start point to avoid the generation of cutting gaps. Finally, the model's trajectory planning algorithm is verified through robot simulation experiments. The result shows that this method can improve the cutting quality by the established model and has good significance in reality.