Planning, Accuracy and 3D sensing for full automation robotic welding

Planning, Accuracy and 3D sensing for full automation robotic welding

The X-Weld project inteds to install an automated system for robotised welding, applying advanced offline programming, including sensors for robot calibration.

The solution

The concept behind the proposed solution is to employ a combination of an off-line robot programming methodology with a real-time 3D sensing system, and integrate its outputs in a digital model of the shop floor work area. From a robotic standpoint, this present as an excellent opportunity of developing towards a smooth integration of flexible robotic solutions as highly efficient operators. Thus, the proposed solution is built around two major points of interest: robotic system motion planning, which comprises operation sequencing and corresponding interpolation to robotic safe tasks, and work cell and fixtures recognition.


Throughout this project, it is aimed to prove that the development of complete yet flexible and modular motion planners, which can consider the scheduling of tasks and surrounding environment, allied to novel methodologies, capable of defining the correct work cell for a given operation in robotic industrial applications, is feasible and essential to achieve industrial requirements and empowering production goals, prompting a paradigm shift in robotic usage, programming, and overall efficiency.
Focusing on the challenge, our proposal can be valuable to robotic system integrators that may use this solution in their standard robotic installations.


The scientific impact through this project is expected in the areas of (1) robotic 3D vision sensing, (2) robot motion planning for high redundancy robotic systems and dynamic production environments (3) optimization of shop floor robotics workflow. This proposal builds upon currently available best practices while addressing the crucial pitfalls of today’s robotic systems. Thus, X-Weld will improve on current development, presenting a flexible and novel solution to advance the state of the art.

Facts and figures

  • Technology Area:

    Robot Cell Development

  • End User:

    Trade-fairs (e.g. Automatica 2020, confirmed by SKK), end-user demonstrations, and making use of the availability of Motofil to demonstrate the system in their showroom. To the robotics community, the project will integrate the Trinity dissemination activities and will foster participation in major events, namely the euRobotics Forum. Finally, the scientific publications produced will be presented in major scientific events. INESC TEC will assume an important role in disseminating the project results throughout the scientific community.

  • Start Date - End Date:

    01/07/2020 - 30/09/2021

  • Duration:

    15 months

  • FSTP Funding:

    299 600,00 €

  • TRL Level at Start:


  • TRL Level at End:


  • Number of early adopters raised:


  • Project results
    back to success stories
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