CONTROLLING METHOD OF WORK ROBOT

PURPOSE:To input a position data easily and with a high accuracy, by storing the coordinates in each case whenever a travelling distance coincides with the microlength set in advance. CONSTITUTION:In a welding robot, its arm can be moved in the X axis direction, the Y axis direction and the Z axis direction, and its torch can be rotated in the theta direction and the psi direction. The arm and the torch are driven by an independent motor, respectively. The instruction method is executed by moving the arm and the torch in a state that an operator has disconnected a clutch provided on the motor. In this case, the extent of movement of the tip of the torch is calculated. Whenever the extent of movement attains to a microdistance DELTAl set in advance, a comparing circuit 31 outputs a signal, and a data relating to X, Y, Z, theta and psi in this case is stored in the memory.