| 摘要 |
PURPOSE: A method for controlling weaving motion of a welding robot is provided which calculates all welding paths all at once only with teaching of a target position and setting of parameters without a separate device, thereby performing smooth weaving motions accordingly. CONSTITUTION: In a method for controlling a welding robot conducting a welding on the welding part between base metals which are contacted each other, the method for controlling weaving motion of a welding robot comprises the steps of teaching of a target position(S110); setting welding parameters(S120); calculating welding paths by the parameters and the taught target position(S130); and carrying out the weaving welding along the calculated paths(S140), wherein the parameters comprises a weaving type, a weaving frequency and a weaving amplitude on the straight line path between the welding start position and the target position.
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