Pipeline insertion intersecting line track planning method orientated to laser machining robot

The invention discloses a pipeline insertion intersecting line track planning method orientated to a laser machining robot. According to the method, through coincidence of the axis of a laser head of the laser machining robot and the normal vector of a curved surface of a workpiece, it is guaranteed that the laser machining head and the surface of the workpiece are perpendicular, a mathematic model of the position and the posture of the laser machining head in the pipeline insertion intersecting line cutting process is established, a homogeneous transformation matrix of a tail joint coordinate system relative to a robot base coordinate system is acquired when the laser machining robot cuts an intersecting line, and finally the position of the intersecting line is rapidly calibrated through a position interpolation algorithm for determining the intersecting line track. By the adoption of the track planning method, the position and the posture of the laser machining head can be effectively controlled in the intersecting line cutting process of the laser machining robot, compared with a traditional track planning method, the track planning method can greatly shorten operation time of track planning of a motion controller and the responding speed of a whole system is increased.