| 摘要 |
PURPOSE:To teach a robot adapted to a positional error by adding the information on the discrimination of check points with respect to the check points in teaching data to teaching position data and storing the data. CONSTITUTION:A weld line WL2 is subjected to teaching at the check points Pc11-Pc20 and at points Pa11-Pa14 except said poits. The check locus CL retreated by a specified distance from the position data at all the teach points stored in a storage device is calculated. A torch is moved along the locus CL and the position data of the weld line WL2 is actually measured at every check point. The actually measured position data at the check points Pc11-Pc20 collected in the above-mentioned manner is used in place of the stored position data. The position data at the other points Pa11-Pa14 is corrected by using such data, by which the welding is executed while the deviation of the weld line is corrected. |
