| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To attain high accuracy of tracing a weld line in a YAG laser welder 1. <P>SOLUTION: A laser machining head 8 and a tracing mechanism 11 are mounted onto the wrist 4 of a six-axis industrial robot 2. Further a detecting means 14 is loaded ahead of the laser machining head 8 in the welding direction 26. The detecting means 14 detects the position of the weld line 7 from the robot 2 simultaneously at two (2) different points along the welding direction 26. The detected points Ys1 and Ys2 are stored in a detected position memory 29 in turn. The teaching position Yrob of the robot 2 is stored in a teaching position memory 31, and interpolation operation is also performed. With the contents stored in these memories being read out, the presumed position Y^k and presumed positional error Y^rerr of a target line are computed, and an imitating action command value Yref is computed with the teaching position Yrob. An imitating action command value Yref is calculated so that the position of welding by the laser machining head 8 traces the welding line 7 to control the tracing mechanism 11. A value calculated at the current time is used as to the positional error of the robot. A value at the place where the laser machining head currently exists in relation to the welding direction is used as to the position of the weld line. <P>COPYRIGHT: (C)2004,JPO&NCIPI</p> |
