<p>In order to solve the automatic welding problem of intersecting line welds in large-diameter curved surface penetrations, a segmented pose planning method for redundant-axis welding robots based on dynamic adjustment of the end-effector’s pose is proposed. First, with the redundant-axis welding robot as the research subject, the kinematic model is established and kinematic analysis is performed based on the modified Denavit-Hartenberg (MDH) parameter method. Then, for the normal vectors corresponding to discrete points on the welding seam trajectory, the Rodrigues’ rotation formula is used to rotate them, and the homogeneous transformation matrix of the robotic end-effector is obtained. Next, the homogeneous transformation matrix corresponding to each discrete point on the welding trajectory is solved, and the end-effector’s pose data is extracted in the welding process of each segment. Finally, according to the obtained end-effector pose data, the segmented pose planning algorithm is used to solve the inverse kinematics of each joint, and then, the segmented pose planning is completed. The simulation results of pose planning show that the proposed planning method achieves the precise control of the robotic end-effector’s pose, and the end-effector’s velocity avoids the Runge phenomenon induced by high-order polynomial planning. The experimental test results demonstrate that the joint motion curves of the robot are continuous without any abrupt changes, which further verifies the effectiveness of the proposed segmented pose planning method based on the dynamic adjustment of the end-effector’s pose in the welding of large-diameter curved surface penetrations.</p>