An arc-point adjustment rod attachment structure includes: a torch support part that includes a base-end-side attachment part which is fixed to a robot distal-end shaft part of an articulated welding robot, and that supports a welding torch; and an adjustment rod attachment part that is disposed on the welding torch side of the base-end-side attachment part, and that detachably supports the arc-point adjustment rod.

A welding condition management method is a welding condition management method performed by a terminal device, and the welding condition management method includes: acquiring a first teaching program for causing a welding robot to execute welding, a second teaching program created by correcting the first teaching program, and welding history data related to the welding executed by using the second teaching program; and extracting and outputting a welding condition at the time of the welding based on the first teaching program, the second teaching program, and the welding history data.

A welding condition management method is a welding condition management method performed by a terminal device, and the welding condition management method includes: acquiring a first teaching program for causing a welding robot to execute welding, a second teaching program created by correcting the first teaching program, and welding history data related to the welding executed by using the second teaching program; and extracting and outputting a welding condition at the time of the welding based on the first teaching program, the second teaching program, and the welding history data.

A welding condition management method is a welding condition management method performed by a terminal device, and the welding condition management method includes: acquiring a second teaching program created by correcting a first teaching program for causing a welding robot to execute welding, and welding history data related to the welding executed by using the second teaching program; and extracting and outputting a welding condition at the time of the welding based on the second teaching program and the welding history data.

An offline teaching device provided with an acquisition unit for acquiring first production data about a workpiece to be produced, and a teaching program creation unit for acquiring a first weld line of the workpiece from the first production data, and creating and outputting a first welding teaching program for executing welding by means of a welding robot, and a first inspection teaching program for executing an inspection of a weld bead, wherein, on the basis of a second weld line, a second welding teaching program for a workpiece to be produced using second production data and a second inspection teaching program are created and output.

An offline teaching device provided with an acquisition unit for acquiring first production data about a workpiece to be produced, and a teaching program creation unit for acquiring a first weld line of the workpiece from the first production data, and creating and outputting a first welding teaching program for executing welding by means of a welding robot, and a first inspection teaching program for executing an inspection of a weld bead, wherein, on the basis of a second weld line, a second welding teaching program for a workpiece to be produced using second production data and a second inspection teaching program are created and output.

An offline teaching device include an input unit that receives an operator operation, an acquisition unit that acquires three-dimensional shape data of a workpiece, an operation trajectory of the welding, and a scanning range of a sensor; a generation unit that generates three-dimensional regions to be scanned by the sensor based on the acquired scanning range and a scanning section; and a control unit that disposes at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation input to the input unit, and that creates and outputs, to a welding robot that performs the welding, a teaching program for scanning the three-dimensional region based on the disposed three-dimensional region and the operation trajectory of the welding.

A method for optimizing a machining time of a laser machining process includes: specifying a machining path of the laser machining process on the workpiece, said machining path having a plurality of machining path sections, specifying at least one boundary condition for at least one of the machining path sections; and determining control data for the laser machining process of the machining path taking into account the at least one boundary condition such that a machining time of the laser machining process is minimal. Furthermore, a method for performing a laser machining process on a workpiece includes such a method and a laser machining system is configured to perform the methods.

A method for optimizing a machining time of a laser machining process includes: specifying a machining path of the laser machining process on the workpiece, said machining path having a plurality of machining path sections, specifying at least one boundary condition for at least one of the machining path sections; and determining control data for the laser machining process of the machining path taking into account the at least one boundary condition such that a machining time of the laser machining process is minimal. Furthermore, a method for performing a laser machining process on a workpiece includes such a method and a laser machining system is configured to perform the methods.

In certain embodiments, a portable metal working robot system includes a metal working tool configured to perform a metal working process on one or more metal parts. In addition, the portable metal working robot system includes communication circuitry configured to receive control signals from a control system located remotely from the portable metal working robot system. The portable metal working robot system also includes control circuitry configured to control operational parameters of the portable metal working robot system in accordance with the received control signals.