Hybrid laser welding system and method using two robots

A method of welding using a hybrid welding system for welding components along a welding joint, the method comprising:

• (a) controlling movements and positions of a first manipulator via a controller to manipulate a joint detection device along a predetermined welding trajectory, the joint detection device being operably attached to the first manipulator;
• (b) optically detecting welding joint characteristics using said joint detection device along the welding joint;
• (c) determining, via the controller, a first corrected trajectory for a high energy welding device operably connected to the first manipulator based on said predetermined welding trajectory and on said optically detected welding joint characteristics;
• (d) manipulating movements and positions of the first high energy welding device along said first corrected trajectory using the first manipulator, said first corrected trajectory being different than the predetermined welding trajectory followed by the joint detection device;
• (e) performing a first welding operation along the first corrected trajectory using the first high energy welding device, the first welding operation comprising melting a material of the components being welded;
• (f) determining, via the controller, a second corrected trajectory for a second electrode type welding device operably connected to a second manipulator which is distant from the first manipulator using the optically detected welding joint characteristics and the predetermined welding trajectory;
• (g) following steps (e) and (f) using the second corrected trajectory to cause the second manipulator to manipulate movements and positions of the second electrode type welding device along said corrected trajectory the second electrode type welding device having different characteristics than the first high energy welding device;
• and
• (h) performing a second welding operation along the second corrected trajectory using the second electrode type welding device, the second welding operation occurring after the first welding operation and comprising adding a filler material between the components being welded,
• wherein said first corrected trajectory is further based on characteristics of said first high energy welding device and said second corrected trajectory is further based on characteristics of said second electrode type welding device, and
• wherein the joint detection device is spaced apart from the first high energy welding device by a first distance.