Abstract: An optical receptacle including a first optical surface configured to allow incidence of light emitted from the light emitting element; a second optical surface configured to emit, toward the optical transmission member, light emitted from the light emitting element and advanced inside the optical receptacle; and a diffraction surface disposed on the first optical surface, on the second optical surface, or on a light path between the first optical surface and the second optical surface. The diffraction surface is configured such that primary diffraction light of the light emitted from the light emitting element reaches an end portion of the optical transmission member, and that zero-order diffraction light of the light emitted from the light emitting element does not reach the end portion of the optical transmission member.

Abstract: The control system includes a welding robot which moves a welding torch along a work for welding the work. A robot controller controls driving of the welding robot. A laser sensor head detects a shape change in the work during welding by the welding torch, and a personal computer obtains instruction information for the welding robot in accordance with the shape change, based on a result of detection by the laser sensor head. The robot controller moves the welding torch by controlling the driving of the working robot, based on the instruction information obtained by the personal computer.

Abstract: The control system includes a welding robot (10) which moves a welding torch (16) along a work (W) for welding the work (W), a robot controller (40) for controlling driving of the welding robot (10), a laser sensor head (17) for detecting a shape change in the work (W) during welding by the welding torch (16), and a personal computer (30) for obtaining instruction information for the welding robot (10) in accordance with the shape change, based on a result of detection by the laser sensor head (17). The robot controller (40) moves the welding torch (16) by controlling the driving of the working robot, based on the instruction information obtained by the personal computer (30).

Abstract: A control method for arc welding wherein position control of an electrode or a torch is performed while adjusting welding conditions on the basis of optical information obtained from arc light generated during an arc welding process. Illuminance, which forms the optical information obtained from the arc light, has a certain mutual relationship with the arc length or the torch height, so that the weld control is accomplished based on the illuminance. The control method includes a step of comparing illuminance with reference information based on the mutual relationship, and a step of adjusting the welding conditions on the basis of a result of comparison.

Abstract: A control method for arc welding wherein position control of an electrode or a torch is performed while adjusting welding conditions on the basis of optical information obtained from arc light generated during an arc welding process. Illuminance, which forms the optical information obtained from the arc light, has a certain mutual relationship with the arc length or the torch height, so that the weld control is accomplished based on the illuminance. The control method includes a step of comparing illuminance with reference information based on the mutual relationship, and a step of adjusting the welding conditions on the basis of a result of comparison.

Abstract: An apparatus is provided for controlling an industrial robot of the type which holds a workpiece for movement relative to a fixed tool or a series of fixed tools. The robot control apparatus prepares and stores a task program which itself includes teaching data regarding the positional and attitudinal relation wXt.sub.j of the tool tip relative to the workpiece reference point as well as the setting data regarding the tool and the workpiece.