METHOD FOR DRIVING WELDING ROBOT OF CORRUGATED MEMBER WELDING SYSTEM

摘要

PURPOSE: A method for driving a welding robot of a corrugated member welding system is provided which secure high welding quality and generally applied even when tracking the shape of a curved surface member having various shapes by perceiving the curved surface shape of a corrugated member using a plurality of contact type displacement sensors and calculating the degree of angle of a welding torch before driving a welding robot. CONSTITUTION: In an apparatus for welding a corrugated member equipped with first and second contact type displacement sensors which are interlocked by being fixed to a rotation axis together with a welding torch and perceive the curved surface shape of the corrugated member, the method comprises the processes of calculating point coordinates of the first and second contact type displacement sensors using information of a distance from a rotation center axis and current coordinates of each axes of a welding robot(ST111 to ST113); calculating coordinates of the welding robot for the next motions at point coordinates of a preceding displacement sensor among the first and second contact type displacement sensors(ST114); calculating angle instruction values of the welding robot from the point coordinates of the calculated first and second contact type displacement sensors(ST115); and ordering after obtaining practical robot driving instruction values by solving inverse kinematics according to the current coordinates, next coordinates and angle instruction values(ST116,ST117).