In this paper a system is presented that combines a robot off-line programming software with a finite element model that predicts temperature-time histories and residual stress distributions. The objective is to develop a tool for the engineer where robot trajectories and welding process parameters can be optimized on parts with complex geometry. The system was evaluated on a stainless steel gas turbine component. Robot weld paths were defined off-line and automatically downloaded to the finite element program, where transient temperatures and residual stresses were predicted. Temperature dependent properties and phase change, were included in the analysis. Assumptions and principles behind the modeling techniques are presented together with predicted temperature histories, residual stresses, and fixture forces.