Welding robot controlling method

Details Welding robot controlling method Welding robot controlling method

1982-12-01

1986-05-20

Smith, Jerry

Boots, shoes, and leggings

21912433, 2191251, 364477, 901 3, 901 4, 901 42, B23R 902, B23R 912

Patent

active

045905770

ABSTRACT:
A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after completion of the locus correction.

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