Method of interlockingly controlling a robot and positioner

摘要

A method of interlockingly controlling a robot and a positioner which includes operating manually or automatically a teaching roller along a weld line of a workpiece fixed to a rotatable positioner, teaching the position of the weld line, storing the positional data thereby obtained, and performing a welding operation automatically on the basis of the stored data during playback, in which, during teaching, the positioner is rotated at any desired speed, the robot is moved manually or automatically while maintaining a welding torch in a proper welding position with respect to the weld line and positional data on each shaft of the robot and that on a rotating shaft of the positioner are stored each time the teaching roller advances by a predetermined distance, while during playback the welding speed is kept constant by controlling the moving speed of the robot and the rotating speed of the positioner simultaneously while controlling a relative positional relation between the positioner and the robot on the basis of the positional data on each shaft of the robot and that on the rotating shaft of the positioner.