Arc Specialties Inc. offers the Artificial Intelligence Pipe Welding System to carry out repeatable full penetration pipe welds. The system incorporates a six-axis UR5 collaborative robot arm from Universal Robots. The system pre-scans the root opening (gap) using a 2-D laser, then uses the data to generate the robot path and welding parameters. Gap variations are compensated for with changes in oscillation, torch position, travel speed and welding conditions. The robot arm positions the torch over a tack weld to start the arc to ensure 100 percent root weld acceptance.