| 摘要 |
A method for correcting a preset locus of a teaching point for a welding robot having a touch sensor, includes the steps of positioning a workpiece on a welding jig, performing a touch-sensor tracking for the workpiece relative to reference coordinate axes, calculating a displacement of the workpiece through the touch-sensor tracking, and obtaining a new locus of the teaching point based on a transformation matrix generated on the basis of the displacement. With these steps, the teaching points are correctly updated by a touch sensor tracking without an additional equipment for optional sensor tracking, such as laser sensors and arc sensors. |
