| 摘要 |
<p>A welding gun (14) is moved to the position of a pressure sensor (24) by an articulated robot (16). A regulated pressing command (C) is given to electrode chips (34, 36) of the welding gun (14) to clamp the pressure sensor (24), so that pressing force (F) is sensed. At this time, a current value (I) supplied to a servomotor (40) that drives the electrode chips (34, 36) is sensed by a current sensor (72). The correlation function of a pressing force signal (A2) and the current value (I) is determined by a correlation function generating circuit (58). The welding gun (14) is moved to the position of a work (12) by the articulated robot (16). A command current value (Q1) set using the determined correlation function is given to the electrode chips. Thus, the work (12) is clamped to carry out spot welding.</p> |
