We have been working with welding robots and teach pendant interfaces. We wanted to create interface and method for programing that are easy to use. So you don't need robot expert every time when you have to make a new program.
The result is PathMate. Easier way to program a welding robot. Simple interface features required functions for creating a welding program, setting data and controlling aux. axis. For moving a robot you just drag the tool to desired position and record the point. It creates identical welding programs done by typical teaching method and jogging - just way more easier! PathMate works with ABB IRC5 robots with ForceControl option.