To correct a target position and posture of a TIG welding torch or a filler wire supply nozzle on line during automatic driving in a controlling method for an industrial robot which carries out TIG welding while the filler wire is supplied.
In this welding robot system, two manipulators for holding a TIG welding torch and for holding a filler wire supply nozzle are controlled, so that a position and posture of the TIG welding torch and those of the filler wire supply nozzle can be arbitrarily set. In this case, the position and posture of the TIG welding torch are offset from an originally taught track by an operation or command from the outside even during automatic driving. The position and posture of the filler wire supply nozzle are changed subsequently so as to stabilize a relative relationship of the position and posture with the TIG welding torch in a welding line coordinate system.
KIYOHARA YUJI
SUGIMURA KUNIHIKO
TOYOTA MOTOR CORP