| 摘要 |
A method for detecting an initial welding point of a welding robot regardless of any irregularity of a parent metal to be welded and the displacement thereof caused by fastening the parent metal. The method includes identifying a first directional vector oriented toward a virtual point given at a weld end part of a roughly taught welding start point and, identifying a second directional vector indicating a direction of a torch which is oriented toward a weld part and bisects an angle included between welding surfaces of the parent metal. Horizontal and vertical tracking directions are coincided with the direction of the second directional vector are determined when the second vector rotates in a positive(+) and negative(-) direction about the first directional vector, respectively. The torch is moved in the determined horizontal and vertical tracking directions until weld deposition occurs, and after weld deposition, the torch is moved to the determined positions on the basis of operation parameters. The torch is then moved in a direction opposite to a welding proceeding direction on the basis of the determined operation parameters and tracking the end of the parent metal. If the weld deposition occurs at an end of the parent metal, the torch is moved in the welding proceeding direction to return the torch to the initial welding point.
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