Abstract: The disclosure relates to the automatic selection of a set of candidate weld guns and candidate orientations for the weld guns from a library of existing weld guns. Minimum values for weld points and test orientations are calculated. The calculated minimum values are added to the library. As each point is added to the library, the set of weld guns that are candidates for the weld point at the tested orientation may be efficiently retrieved, and a matrix of candidate weld guns and orientations is produced.

Abstract: An apparatus and method of optimizing collision free path planning comprising: initializing a plurality of feasible configuration points, sample points located in a free space, and sample points not located in the free space; determining a goodness rating of the various pluralities of points; generating new candidate points; determining if each new candidate point is a feasible configuration point and adding each to the plurality of feasible configuration points if it is; if not, determining if each new candidate point is located in the free space and adding it to the plurality of sample points located in the free space if it is; if not, adding to the plurality of sample points not located in the free space; determining an updated goodness rating of the various pluralities of points; determining if a termination criteria has been met and reporting a best solution or no solution if it has been met.

Abstract: A system and method for multi-goal path planning of welding robots with automatic sequencing. Input parameters associated with a number of goal points are obtained. The robot is moved through the multiple goal points based on the obtained inputs. One or more allowed cyclic paths are identified based on the obtained inputs. Weights are assigned to pre-defined attributes for path segments for each of the allowed cyclic paths. A cumulative score based on the values and assigned weights of the pre-defined attributes is calculated. An optimal path for the movement of robot across the goal points is identified based on the cumulative score.

Abstract: The disclosure relates to the automatic selection of a set of candidate weld guns and candidate orientations for the weld guns from a library of existing weld guns. Minimum values for weld points and test orientations are calculated. The calculated minimum values are added to the library. As each point is added to the library, the set of weld guns that are candidates for the weld point at the tested orientation may be efficiently retrieved, and a matrix of candidate weld guns and orientations is produced.

Abstract: An apparatus and method of optimizing collision free path planning comprising: initializing a plurality of feasible configuration points, sample points located in a free space, and sample points not located in the free space; determining a goodness rating of the various pluralities of points; generating new candidate points; determining if each new candidate point is a feasible configuration point and adding each to the plurality of feasible configuration points if it is; if not, determining if each new candidate point is located in the free space and adding it to the plurality of sample points located in the free space if it is; if not, adding to the plurality of sample points not located in the free space; determining an updated goodness rating of the various pluralities of points; determining if a termination criteria has been met and reporting a best solution or no solution if it has been met.