METHOD AND APPARATUS FOR CONTROLLING WELDING ROBOT.

摘要

Method and appts. are described for controlling a robot for weave welding two workpieces (W1,W2) in which data relating to changes in the gap (B1-B2) between the workpieces along a welding line (WL) is input beforehand to a computer, command values for causing weave welding with the weaving amplitude varied in accordance with the workpiece gap variations are calculated on the basis of the input data and supplied to the robot.