Long reach welding torch and method for selecting torch shape

A method for determining shape of a long reach device having a length suitable for use within a portion of an object along a joint curve comprising the steps of:

• dissecting said long reach device into a number of portions L;
• assigning an azimuth degree of freedom having an azimuth movement range between each of said L portions and an elevation degree of freedom having an elevation movement range between each of said L portions of said long reach device;
• discretizing said azimuth movement range into NA intervals and said said elevation movement range into NE intervals.
• determining a total number of shapes M based on said L portions by the equation:
• M=[NA*NE]L;
• generating a representation of the joint curve including said portion of said object;
• comparing with said representation of said portion of the object a first representation of said long reach device having one of said M shapes wherein said one of said M shapes is deemed acceptable if less than a predetermined portion of said representation of said long reach device interferes with said representation of said portion of the object and is deemed unacceptable if more than a predetermined portion of said representation of said long reach device interferes with said representation of said portion of the object, and
• comparing with said representation of said portion of the object a second representation of said long reach device having another of said M shapes if said first representation is deemed unacceptable,
• wherein the step of comparing with said representation of said portion of the object continues for subsequent representations of said long reach device having others of said M shapes until at least one acceptable representation of said long reach device is determined or until all representations of said long reach device having all M shapes have been compared to said representation of said portion of the object.