Abstract: A method for electric welding a workpiece arrangement having at least one workpiece with the aid of a robot arrangement including at least one robot. A rotational movement is carried out between the workpiece arrangement to be welded and at least one welding electrode which contacts the workpiece arrangement. The rotational movement is started as a function of a commanded and/or detected welding start and/or ended as a function of a commanded and/or detected welding end. The direction of rotation of the movement may be changed as a function of a predefined parameter during contact between the welding electrode and the workpiece arrangement.

Abstract: A method for electric welding a workpiece arrangement having at least one workpiece with the aid of a robot arrangement including at least one robot. A rotational movement is carried out between the workpiece arrangement to be welded and at least one welding electrode which contacts the workpiece arrangement. The rotational movement is started as a function of a commanded and/or detected welding start and/or ended as a function of a commanded and/or detected welding end. The direction of rotation of the movement may be changed as a function of a predefined parameter during contact between the welding electrode and the workpiece arrangement.

Abstract: A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.

Abstract: A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.