Robotized welding of large one-dimensional structures

One can observe an enormous progress in robotic arc welding during the last two decades. However, the existing means for monitoring and the OLP systems based on these achievements still do not provide adequate welding operations planning. The programming of robotic systems for arc welding is still a time-consuming process, which requires substantial expertise in both robotics and the arc welding process. The shortcomings relate mainly to weld sequencing and positioner motion planning. The paper is aiming to establish a technical / theoretical basis for the positioner motion planning, beginning with the simplest case, that of quasi one-dimensional oversized parts.