| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve the following problem: feedback control cannot cope with a substantial change when a welding wire feed speed which varies according to a change in the welding attitude of a manipulator is optimally controlled on real time. <P>SOLUTION: A system control part 10a determines a wire feed speed which indicates an abnormal value and prepares correction data each migration length on the basis of a speed command value of a welding torch 13 and the abnormal value when the abnormal value is indicated. A wire feed control device 30 performs feedforward control to a wire feed device 16 on the basis of migration length of the welding torch 13, and the speed command value and the correction data, when executing an operation program. A stable welding result can be obtained even in welding having a substantial load variation in a feed system, such as a welding in which a complex shape is welded with high speed by a welding robot. <P>COPYRIGHT: (C)2013,JPO&INPIT |
