| 摘要 |
PURPOSE:To change quickly the attitude of a welding torch in the state of fixing the tip thereof by changing the angles of the turning axes of a wrist attached with the welding torch, and controlling simultaneously the orthogonal three axes in accordance with the detected values of said angles and the constants of the wrist. CONSTITUTION:The tip of a welding torch 1 is moved to a teaching point and further turning axes S, B are turned in order to change the attitude of the torch 1 in a welding robot constituted of a robot body consisting of a wrist 2 provided with the torch 1 and having the axes S, B for controlling the attitude of the torch 1, and an arm 3 having the orthogonal three axes X, Y, Z for controlling the position of the torch 1, a control device 4 for the welding robot, a teaching box 5, a device 6 for supplying a welding power source, and a welding wire box 7. The turning angles thetaS, thetaB thereof are successively detected and the speed command value of the orthogonal three axes required for fixing the tip of said torch 1 is calculated in accordance with the detected values and the length constants l1-l4 of the wrist 2, whereby the above-mentioned three axes are simultaneously controlled. |
