In the publications sections you can find papers and books about this subjet, namely, the following:
Pires, JN, Godinho, Tiago, and Ferreira, Pedro, Loureiro, Altino, “Industrial Robotic System Programmed from CAD files – An Update”, Volume 32, nº4, Industrial Robot, An International Journal, MCB University Press, 2005 (DOI: 1108/01439910510600164) (IF 2015: 1,213)
Pires, JN, Godinho, Tiago, and Ferreira, Pedro, “CAD interface for Automatic Robot Welding Programming”, Volume 31, nº1, Industrial Robot, An International Journal, MCB University Press, 2004 (DOI: 1108/01439910410512028) (IF 2015: 1,213)
“Welding Robots, Tecnology, Systems Issues and Applications”, 1st edition, J. Norberto Pires et al, 978-1-85233-953-1 (Printed version) 978-1-84628-191-4 (Online eBook version), Springer, London (UK), 2006 – <<<Author’s site here >>>
“Automação industrial”, 3ª edição, revista e aumentada, J. Norberto Pires, ISBN: 978-972-8480-17-2, Lidel, 2007;
“Industrial Robots Programming, Building Applications for the Factories of the Future”, 1st edition. J. Norberto Pires, ISBN: 978-0-387-23325-3 (Printed version) 978-0-387-23326-0 (Online eBook version), Springer, New-York (USA), 2007 – <<<Author’s site here >>>