This example illustrates the use of motion actuation to determine the actuator torques needed for the robot to achieve a given welding task. The system consists of a seven degree of freedom robot carrying a welding torch. The tip of the torch needs to trace the joints being welded. In this example the tip of the torch is made to trace (using motion actuation) a plus sign, a circle and a star sign on the workpiece. The torch is lifted off the workpiece when transitioning between the different shapes. The motion of the welding torch is specified and the actuator torques required at the various joints of the robot to achieve this motion is computed.