Title:
CONTROLLING METHOD OF WELDING ROBOT
Document Type and Number:
Japanese Patent JPS58192108
Kind Code:
A
Abstract:
PURPOSE:To give a margin to the accuracy of installation of a work, by correcting a coordinate at the next teaching point depending on the shift between the teaching coordinate at one teaching point and an actual coordinate of the work for the execution of welding. CONSTITUTION:The installing position of the work is shifted to teaching points P1,P2...P8 three-dimensionally as P'1, P'2...P'8, and a welding torch starts from the point P'1, then the teaching point P2 is read out and the welding is carried out while linearly interpolating the points P'1 and P2. In this case. the welding torch 6 is woven in the perpendicular direction to the positions P'1, P'2 and the torch 6 goes in the direction of the P'2 with the correction of position of this arc copying. When the torch 6 reaches the point P'2, the error between the P2 and P'2 is operated at an operation circuit 12 and the error corrects the coordinate of the teaching point P3 at a data correction circuit 17. The corrected coordinate is stored in a data storage device 13, the linear interpolation is performed by the corrected teaching points P'2 and P'3 to decide the welding path for the welding. The operations are performed in the same ways as above further.
Inventors:
OOSAWA MAKOTO
MUNEZANE YOSHIAKI
MUNEZANE YOSHIAKI
Application Number:
JP7503882A
Publication Date:
November 09, 1983
Filing Date:
May 04, 1982
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
B25J9/16; B23K9/00; B23K9/12; B23K9/127; B25J9/00; G05B19/42; (IPC1-7): B23K9/00; B25J9/00
Domestic Patent References:
| JPS5132587A | 1976-03-19 |
Attorney, Agent or Firm:
Aoyama