Shape of a long reach device, e.g., a welding torch, suitable for use within a portion of an object along a joint curve, e.g., a weld joint, is determined by dissecting the long reach device into a discrete number of portions, identifying ranges of movement between each of the portions, and discretizing...http://www.google.fr/patents/US6515258?utm_source=gb-gplus-shareBrevet US6515258 - Long reach welding torch and method for selecting torch shape
Long reach welding torch and method for selecting torch shape
