METHOD FOR CONTROLLING WELDING ROBOT

PURPOSE:To enable welding by high-quality straight beads by changing the progression speed of a welding torch in such a manner that the speed is lower as the mutual gap between materials to be welded is wider and is higher as the gap is narrower in accordance with the data on said gap. CONSTITUTION:Teaching (programming) of a computer is executed by operating a remote operation board. The mutual gap G2 of the 1st and 2nd materials W1, W2 to be welded near the end point of welding is determined and the change in the mutual gap is computed by this gap and the mutual gap G1 near the start point of welding. Welding is then executed by the straight beads from the start point P2 of welding toward the end point P3 of welding while the progression speed of the welding torch is changed so as to decrease the speed with an increase in the size of the mutual gap and to increase the speed with a decrease in the size of said gap on the basis of the welding speed assigned by the welding conditions. The welding speed is changed according to the nonuniformity of the mutual gap in such a manner, by which the mutual gap is filled at a uniform height and high-quality automatic welding is executed.