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... welding quality even after many hours of operation. One additional component used is a shock sensor, which ensures that the robot will stop in case of collision. Another feature of these robots is that they can control the welding pathway by means of special sensors. Robots may also manipulate external axes and expand their work envelope, and thus facilitate welding in difficult parts of pieces. Also, by means of a positioner, the system acquires increased flexibility and registers huge increase in productivity.