| 摘要 |
<p>An apparatus for controlling weaving welding by a robot in a high precision. Driving controllers (5, 6 and 7) drive each of the shafts of the robot in accordance with an input signal corresponding to a calculated target position υ1d. The transmission function G(s) of at least one predetermined shaft among those of the robot, for the driving controllers (5, 6, 7), is calculated. The calculated target position υ1d of the predetermined shaft is multiplied by the inverse transmission function 1/G(s) which is obtained from the transmission function thus calculated. In this way, a corrected calculated target position υ1d* is obtained. A signal which corresponds to this corrected calculated target position υ1d* is inputted into the drive controllers (5, 6 and 7). As a result, both the resonance characteristic (gain characteristic) and phase characteristic at an arbitrary weaving frequency are compensated. Thus, the precision of the weaving amplitude at the nose of the torch is enhanced, and at the same time, the distorsion of the weaving surface and waveform is significantly improved.</p> |
