| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device of an arc welding robot which can perform automatic adjustment of a torch attitude of at least an aimed angle of a welding torch also to a workpiece to which copy of a weld line cannot be applied, can eliminate the need of Robot language programming, and can obtain a desired torch attitude by one instruction by designation of a numerical value. SOLUTION: A control device 10 performs drive control of a manipulator M1 according to one instruction, moves a laser displacement sensor LS based on designation distance from a first sensing point to a second sensing point. The control device 10 calculates a weld line coordinate system based on a detection result of both sensing points that the laser displacement sensor LS has obtained according to the instruction, calculates a position and attitude of the manipulator M1 based on the weld line coordinate system, obtains each axial angle of the manipulator M1 by inverse operation based on the position and attitude, and stores it. COPYRIGHT: (C)2011,JPO&INPIT
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