This paper aims to realize 2-axis additional axes, which increases processing efficiency of a robot by controlling in harmful environments or design fields beyond human reach. Ultimately, this is to create temporal and efficient profits in industrial processing sites including welding and assembling 6-axis articulated robot (RS2). Also, using RecurDynⓇ, a simulation-based technique is applied. And the motion paths of the welding rod will be compared for two cases in order to verify the necessity of the 2-axis additional axes: 1) when there are no 2-axis additional axes and 2) when there are 2-axis additional axes during welding using the RS2. For this purpose, the angle variations of RS2 axes required for a simulation are compared, on the assumption that each of the four points of the welding bed installed in the 2-axis additional axes of the welding rod in SolidWorksⓇ is point-welded. Then an actual 2-axis additional axes equipment will be grafted on to RS2 and the process times depending on the existence of 2-axis additional axes are compared using a PC-based robot control program, LabVIEWⓇ. The comparison will imply that grafting a 2-axis additional axes equipment on to a 6-axis articulated robot make it possible to control a robot easily, to decrease the process route and the process time drastically, and to maximize robot efficiency.