CCWELD: A CIM system for robotic arc welding

This paper describes a CIM system for robotic arc welding. The system is specially designed for producing workpieces in small and medium batch sizes. Based on the development of AUTOCAD and a structure-light visual sensor, low cost CIM is implemented Feature modeling of weld workpiece is discussed .which provides complete geometric information and process information for off-line programming. The system provides powerful tools for programming of torch orientation to meet the requirements of achieving good welding quality avoiding collision and not violating kinematics constraints.