| 摘要 |
A method of controlling an industrial robot which is provided with a sensor for detecting a position of a work line, and is adapted to make use of a detection signal from the sensor to correct a position of the robot for performing operations such as weaving welding and lap welding. When weaving welding and the like are to be performed with a teaching path (P1 } ... } Pn) as a reference, a sensing/correcting operation mode (Q1 SIMILAR Q1-10;), in which the robot is moved while a position of the robot is corrected on the basis of a detection signal from the sensor, and a designated configuration path operation mode, in which the robot starts at the terminal point (Q1-10, Q1-20,) of one section of a robot path, which has been drawn during the execution of the sensing/correcting operation mode, to follow a path having a previously designated configuration ([B0] 1-1, [B0] 1-2,), are alternately executed. Lap welding can be performed by the use of correction data obtained by the execution of the sensing/correcting operation mode. |
