| 摘要 |
PROBLEM TO BE SOLVED: To provide a welding robot which can realize a high profile follow-up capability not only for a preceding electrode but also for a following electrode in following a weld line in tandem welding. SOLUTION: A translation correction computation unit 23 corrects a target value Plead(t) by a translation correction levelΔP(t) in a preceding electrode 5a, which is a correction level in a translation direction in a base coordinate systemΣbase at a position of a void time in the preceding electrode 5a to obtain a primary correction target value Plead(t)'. A rotary correction computing unit 24 calculates a rotation correction levelΔθ(t) for correcting a deviation of the posture of the torch 6 around the preceding electrode 5a from an actual welding line Lre caused by the correction by the translation correction levelΔP(t) and calculates a secondary correction target value Plead(t)" obtained by correcting the primary correction target value Plead(t)' so that the torch 6 is rotated around the preceding electrode 5a by the rotation correction levelΔθ(t). A manipulator 2 is driven by the secondary correction target value Plead (t)". COPYRIGHT: (C)2009,JPO&INPIT
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