Even though Friction Stir Welding (FSW) is more and more considered as a 'state of the art' welding technique, the utilization of this process with an industrial robot is still in a developing state. The first FSW applications were in fact using milling machines with some minor modifications, where the rotating FSW tool replaced the ordinary milling tool and performed the weld. These machines were an obvious choice because of the stiffness and the relative high deliverable down force, and of course the availability.
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