Abstract: Systems and methods to simulate robotic joining operations are disclosed. An example system to simulate a robotic application includes: an image sensor configured to capture images of a physical simulation workpiece and a physical simulation welding torch manipulated by a robotic arm during welder during a simulated operation; and a simulator configured to: calculate a simulated result based on the captured images and based on communications output by the robotic arm; and output a visual representation of the simulated result.