Abstract: The welding method according to the present invention is adapted to carry out a welding operation by feeding a welding wire to a material to be welded, and generating an arc between the material to be welded and welding wire, in which the welding is done with the welding wire feeding speed increased and reduced during the welding operation, the welding wire feeding speed being reduced after the occurrence of short-circuiting is detected, the welding wire feeding speed being increased after the cancellation of the short-circuiting and the transfer of the welding operation to the formation of the arc are detected.

Abstract: A method of detecting and controlling a work start point of a robot of the teaching playback control type is disclosed. The robot has an interpolating function and responds to a position sensor, and a work tool is attached to the robot wrist to be accurately positioned to a work start point of a work object. A shadow of the work tool is produced by an illumination source. The work line of the object, the work tool, and the shadow thereof are image-recognized by a visual sensor. The visual sensor generates position correcting signals along the first and second correcting directions on the basis of the image recognized. The edge of the work tool is moved along the first correcting direction in response to a position correcting signal so as to reduce the distance between the work line and an edge of the work tool on the image recognized.

Abstract: According to the invention, the fiber scope is inserted into the highly rigid tube and this tube is clamped as a rigid member by the robot wrist (or fiber scope supporting device) and camera supporting device, thereby allowing the camera supporting device and tube to move intergrally with the robot wrist. Therefore, no twisting of the fiber scope occurs within the operating range of the robot wrist axis. Also, even at any position in the operating range of the robot wrist axis as well, the angle of bend of the fiber scope can be held to a constant value below the allowable bending angly of the fiber scope. Consequently, it has been possible to realize an imaging device in which interference between the object to be worked and the optical system is remarkably improved.

Abstract: A method of controlling a welding robot substantially comprises (i) teaching three points in the neighborhood of a teaching line to define a weaving pattern, and (ii) controlling three basic axes of a welding robot so that a welding torch tip of the robot moves on one of the surfaces of a triangular pillar formed by shifting a triangular plane defined by the above three points along the teaching line, while executing a weaving operation which is determined by a weaving amplitude, a weaving frequency, and a welding velocity. After continuing the above movement until the torch tip arrives at the end point of the teaching line, the weaving operation along the next teaching line is effected utilizing a new triangular plane which is formed by rotating the former triangular plane on an axis defined by the former teaching line and the next teaching line.

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

Abstract: In a control device for an industrial articulated robot, in the linear interpolation between two specified points, the distance between the two points is divided into segments, and the interpolation increments of the articulation drive axes for each interpolation internal, which correspond to the segments, are calculated for interpolation so that the interpolation increments are distributed uniformly with time.

Abstract: In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.