**4. Conclusions**

The trials show that the kinematics is the main factor that is needed for producing the natural movements of the robotic arm. Respect to the welding process, we can observe that the system achieves to be in the right standards for the development of the process. Finally, based on the results of the artificial vision phase, it is correct to say that the segmentation and edges identification process are successful, and therefore, it is possible to perform this process within the typical ranges of separation of pieces for a welding process.

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