Robot control device and robot control method

Abstract

The invention aims to settle a technical problem of supplying a robot control device of a seam welding apparatus which is not affected by surface shape and integral shape of a workpiece, and a robot control method. For settling the technical problem, the robot control device includes an error acquiring unit, a convertor and a robot control unit. The error acquiring unit acquires error between a measured or estimated position of an end effector mounted on a robot including a plurality of drive sections and a target position of the end effector. The convertor converts the error to a correction angle for a predetermined revolving angle of the end effector. The robot control unit controls the robot so that the end effector revolves based on the correction angle.

Description

[0001] This application is a divisional application with the application number 201380065272.3 and the title of the invention (sealing welding equipment, seaming welding method, robot control device and robot control method). technical field

[0002] The invention relates to a seam welding equipment, a seam welding method, a robot control device and a robot control method suitable for seam welding, especially for body seam seam welding. Background technique

[0003] A seam welding method using a rotating electrode is known. That is, the pair of rotating electrodes pinches the two steel plates in the state of overlapping. Power is supplied to the rotating electrode on one side and the rotating electrode on the other side acts as a ground electrode. A deposited metal (nugget) is formed between the two steel sheets. By relatively moving the rotating electrodes, the deposited metal is continuous in a linear form.

[0004] Since seam welding is continuous welding, it is suitab...

Images