| 摘要 |
PROBLEM TO BE SOLVED: To provide a friction stir welding method capable of accurately joining while correcting positional deviation.SOLUTION: The friction stir welding method using an articulated robot 10 is characterized in that, on the basis of change in rotation torque of a rotary tool 5 attached to the tip end of the robot arm 30 of the articulated robot 10 and of change in driving shaft torque of an articulated robot 10, positional deviation is corrected by imparting a compensation force which has the magnitude equal to and is in the direction opposite to a reaction force generated between the rotary tool 5 and a workpiece 8. |
