| 摘要 |
A lattice welding robot detects an X-axis slide position of Xp by an arc sensor of a welding torch, compares the value of Xp with a reference value of X0 by a comparator (31), calculates a differential value of the value of Xp by a differentiator (32) and computes a travel speed correction amount DELTA V from a difference between a comparator output value and a differentiator output value by a computing unit (36). The correction amount DELTA V is added to an initial speed of each of inside wheels and outside wheels of a welding carriage to control each of driving motors (13, 14) for the inside wheels and the outside wheels by an adding speed command Vin and an adding speed command Vout, respectively. Thereby, a rough guidance for the welding carriage to trace a weld line is performed. <IMAGE> |
