The automatic arc welding is generally accepted as the preferred joining technique and commonly chosen for assembly of large metal structures such as in areas of automotive, aircraft and shipbuilding due to its joint strength, reliability, and low cost compared to other joint processes. Recently, several mathematical models have been developed and studied for control and monitoring welding quality, productivity, microstructure and weld properties in arc welding processes. This study indicates the prediction of process parameters for the expected welding quality with accordance to the adaptive GTA welding process. Furthermore, the mathematical models is also develop to aid the selection of an optimal welding process as the generation of process controls to predict the bead geometry as a function output parameters in the GTA welding process. The developed models through this study showed comparatively excellent predicted results, and will extend to other welding processes to integrate an optimized system for the robotic welding process.