| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device for controlling welding with a welding robot which deals with individual workpiece. SOLUTION: The welding is performed by: making a welding hand 10 of the welding robot operate in accordance with preset welding procedure; making a video of welding places with an image pickup camera 12 arranged on the robot hand 10 of the welding robot in a state where the camera is in parallel to a welding torch 11; comparing this picture information which is made into video with a standard picture which is preliminarily stored; calculating the deviation value from the standard picture and deciding the welding starting position of the welding torch on the basis of this deviation value. COPYRIGHT: (C)2008,JPO&INPIT
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