Automatic programming of robots for melting off stapled profiles on micro panels using digital image capture

The invention relates to a method for controlling the robots for welding three-dimensional workpieces comprising the steps of: Positioning and stapling of profiles (3) on a plate (2) for the formation of the welded workpiece (1), Imaging the workpiece by means of a three-dimensional image capture system in the form of three-dimensional image points, Determining the geometry data of the plate and the profile, including the allocation of overhead sections and Endbeschnittformen from the three-dimensional image points, Determining the weld data from the geometry data taking into account the profile placement lines and the contact lines of profiles, Associating the weld data to programmable preferences for the weld schedule to the stored predefined movement patterns of the robot, as well as commands for controlling and regulation of the welding process.