THIS PAPER REPORTS RESULTS OF AN ANALYTICAL AND NUMERICAL STUDY OF A MIG WELDING TASK PERFORMED BY A GANTRY ROBOT. THE ROBOT CAN SENSE THE SEAM GAP- WIDTH AND CAN ALSO SENSE AND ADJUST THE VERTICAL POSITION AND ORIENTATION OF THE WELDING GUN. THE MATHEMATICAL MODEL FOR THIS PROCESS IS DEVELOPED. A STABILITY ANALYSIS OF THE NON-LINEAR MODEL IS PERFORMED, AND IS FOLLOWED BY A NUMERICAL INTEGRATION.
