| 摘要 |
PURPOSE:To ensure the suitable application of a robot controller to a stud gun welding machine, etc., by performing the spatial positioning actions with an arm, a pressing means and a pushing means and at the same time energizing the pressing means at the positioned place to shift the pushing means for press of a subject. CONSTITUTION:The 2nd and 3rd spatial positions are calculated for correction of a position shift of a pushing means 42 caused against a 1st spatial position P1 by the reactions applied to arms 31-36 by the pressure applied to the means 42. Then, the tip of the means 42 is continuously positioned at those positions P1-P3. Then, a pressing means 41 is energized when a prescribed time ta passed after the arrival at the position P1. Thus, a subject 51 is pressed by the means 42 at the position P3. Then, an electrical welding is carried out with accurate positioning actions and fast pressing actions.
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