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Here are two video guides by youtube user Scorch on using a Dremel based DIY friction welder. Great work Scorch!Here is a video on how to make a Buckyball from 3d printed hexagons:
... and video on how to repair 3d printed objects:
Friction welding works with both PLA and ABS.
While good people of Hackaday think this is a new 3d printing technique it is actually used for a quite some time now.
here you can see it in action making and repairing stuff:
http://diy3dprinting.blogspot.com/2014/01/how-to-friction-weld-plastic-with.html
... and here you can see a guide on how to make it work and make a small DIY plastic welder:
http://diy3dprinting.blogspot.com/2013/01/diy-friction-plastic-welder-by-fran.html
And if you want to use 3d printed plastic rivets for friction riveting things together:
http://diy3dprinting.blogspot.com/2014/01/3d-printed-rivets-for-friction-welding.html
If you want to go the ultrasonic way or DIY heat plastic welding in the "old school style":
http://diy3dprinting.blogspot.com/2012/12/diy-ultrasonic-plastic-welding.html
And here is how a friction welding seam looks like (from Scorch's video):
