| 摘要 |
PROBLEM TO BE SOLVED: To provide a posture determination method for a welding robot, a method that can curtail useless motion of a welding robot. SOLUTION: In the posture determining method of a welding robot; with reference to a welding spot OO, first, a tripartite position at equal angles of a weldable range O1, which is a range of posture for a welding gun 18 to take when welding is possible, is extracted as dividing positions GO1-GO4. Next, the posture for the welding robot to be able to take in accordance with the posture of the welding gun 18 in the dividing positions GO1-GO4 is extracted individually for one each as a feasible posture of the welding robot. Then, with the purpose of reducing the change of posture of the welding gun 18 before and after the welding spot sequence, one position is selected among the dividing positions GO1-GO4. COPYRIGHT: (C)2008,JPO&INPIT
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