Method of and apparatus for controlling a welding robot.

摘要

A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second welded mumbers (W1, W2) are woven while oscillating an welding torch (4) along a weld line (WL), data on change in an interspace between the first and second welded members (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. In the welding, the computer 7 performs arithmetic to obtain command values on the basis of the said data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in said interspace.