| 摘要 |
<p>In this control method for controlling an articulated welding robot (2), the tip of which has a welding torch (6) mounted thereto, the welding robot (2) is controlled using a full shaft model, which is constructed taking into account the effect of all of the joint shafts (first shaft - sixth shaft) that form the welding robot (2). If the welding robot (2) has a cantilever structure, in which a link member that connects the fourth shaft and fifth shaft is left-right asymmetric with respect to the fourth shaft, a full shaft model is used that is derived by assuming a roll-bend-roll configuration from the fourth shaft to the sixth shaft.</p> |
