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accuracy adaptive control arc voltage arc welding robots assembly automated axes of motion butt joints CAD/CAM camera centreline chassis clamping components control system coordinates example fillet fit-up fixture functions gantry gate valve geometry industrial robots installations interface joint preparation joint tracking laser light strip manipulator manual welding MetaTorch 200 monitor Motoman Optical sensors pipe positioner power source problems process tolerance production programming pulse robot cell robot control robot system robot welding robotic arc welding safety seam Seampilot sensor sensor system shielding gas signal simulation spacer specific spot welding station surface teach pendant technique through-the-arc sensing TIG welding tool torch position travel speed valve variations weld joint weld path weld pool welder welding equipment welding head Welding Institute welding machine welding parameters welding procedure welding process welding system welding torch wire feed speed workpiece