Abstract: To address the poor cutting quality and severe slag adhesion caused by trajectory and pose mismatch in robotic plasma cutting of steel pipe arc plates, this paper proposes an integrated trajectory and pose control strategy. The core of this strategy is the combination of a dynamic angle compensation algorithm, based on multi-sensor fusion, with a PID height controller. A 3D vision sensor is used to acquire trajectory points, and the dynamic compensation algorithm adjusts the torch pose in real-time to ensure it remains perpendicular to the cutting surface. Concurrently, an arc-voltage-feedback-based PID controller accurately maintains the cutting height, effectively suppressing the overshoot and lag common in traditional methods on variably curved surfaces. Experimental results demonstrate that this method significantly improves the smoothness and accuracy of the cutting trajectory while substantially reducing slag adhesion. This paper details the design of the integrated control system, the PID parameter tuning method, and the principles of dynamic angle control, validating its effectiveness through practical application on a steel pipe production line. This research provides a reliable theoretical basis and practical guidance for the automated robotic cutting of complex-surfaced workpieces.