providing a welding robot comprising a welding arm and a motorized positioner coupled to a weld head, wherein the welding arm is configured to provide the weld head with one or more first degrees of freedom, wherein the motorized positioner is configured to provide the weld head with one or more second degrees of freedom;

receiving, in a non-transitory memory communicatively coupled to a processor and to the welding robot, a digital representation of a plurality of parts including a digital seam representation of a seam to be welded between the plurality of parts, wherein the digital representation of the plurality of parts comprises a computer aided design (CAD) representation of the plurality of parts;

discretizing, by the processor, the digital seam representation into a plurality of sequentially-ordered waypoints in which each separate waypoint of the plurality of waypoints is spaced along the digital seam representation and constrains an orientation of the weld head in three or more degrees of freedom, and dividing each said waypoint of the plurality of waypoints into a plurality of nodes of the waypoint, wherein each node of the plurality of nodes is associated with a corresponding position and a corresponding orientation of the weld head;

evaluating, by the processor, a welding feasibility of each said node of the plurality of nodes associated with each said waypoint of the plurality of waypoints based on determining, from at least the digital representation, whether the weld head, when constrained at a given waypoint of the plurality of waypoints, would encounter a collision and/or at least one infeasible weld parameter at a first waypoint;

modifying, by the processor, at least one constraint on at least the first waypoint of the plurality of waypoints, based on at least one of the one or more first degrees of freedom or the one or more second degrees of freedom, in response to determining that the weld head would encounter a collision and/or at least one infeasible weld parameter at the first waypoint;

generating, by the processor, a weld path through at least a subset of the plurality of waypoints wherein the subset includes the first waypoint after modifying the at least one constraint, wherein the welding feasibility of at least one node associated with each said waypoint of the subset of the plurality of waypoints is greater than a threshold feasibility value, and wherein the welding feasibility of each said node of the plurality of nodes associated with a waypoint after a last waypoint of the subset of the plurality of waypoints is less than the threshold feasibility value;

providing, by the processor, the weld path to the welding robot;

welding the part along the weld path with the weld head; and

sending a signal indicating that a portion of the seam after the last waypoint of the subset of the plurality of waypoints is unweldable.