| 摘要 |
A robot controlling method and apparatus using a laser sensor in which an optimum moving path is realized even if the accuracy of positioning workpieces is low. While a laser sensor is operated, a robot is started to move toward a taught position corresponding to the start position of a welding line. When the workpieces W1 and W2 are detected, a three-dimensional position of the points Q1-Q4 are calculated. The equations of a straight line Q1Q2 and a straight line Q3Q4 are obtained from position data of points Q1-Q4, and a corner position Q0 is calculated as a crossing point of these two straight lines. Then, access is made to a register, which is designated by an address designation counter value i, to read position shift data. When i=1, DELTA x= DELTA y= DELTA is read and a position shifted from the position Q0 by DELTA respectively along the straight lines Q1Q2 and Q3Q4 is calculated as a target position to which the robot movement is performed. In the first moving cycle for forming the first welding layer, a path a is realized. Likewise, in the subsequent moving cycles, different position shift data are read to realize the paths a-f successively.
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