A controller calculates a correction amount of a position of a robot 1 at a movement point in a first movement path, and drives the robot 1 in a second movement path obtained by correcting the first movement path. The controller includes a second camera configured to detect a shape of a part after a robot apparatus performs a task, and a variable calculating unit configured to calculate, based on an output of the second camera, a quality variable representing quality of a workpiece. When the quality variable deviates from a predetermined determination range, a determination unit of the controller determines that the position or an orientation of the robot 1 needs to be modified based on a correlation between the correction amount of the position in the first movement path and the quality variable.

The invention relates to a monitoring module (1 . . . 1″) for monitoring an electric arc machining process, the module comprising a camera (2), a photo flash lamp (3) and a control system (4) that controls the photo flash lamp (3) and a control system (4) that controls the photo flash lamp (3) in such a way that it illuminates when the camera (2) records the image. According to the invention, the components (2, 3, 4) are arranged in a common housing (5).

Apparatuses, systems, and/or methods for welding systems that provide independent control of a contact tip of a welding torch are disclosed. The welding system can include, for example, a welding torch that includes, for example, a contact tip and a pivot in which the contact tip is coupled to the pivot and is configured to provide wire that is fed through the welding torch during a welding operation. The contact tip and the pivot are configured to independently move the contact tip of the welding torch around the pivot during the welding operation.

This link actuation device includes: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each couple the distal end side link hub to the proximal end side link hub. Each link mechanism includes: proximal side and distal side end link members, and an intermediate link member. The link mechanism is provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub. A workpiece is disposed on the proximal end side link hub, and an end effector is disposed in the distal end side link hub so as to face inside of arrangement of the link hubs and perform work onto the workpiece.

This link actuation device includes: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each couple the distal end side link hub to the proximal end side link hub. Each link mechanism includes: proximal side and distal side end link members, and an intermediate link member. The link mechanism is provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub. A workpiece is disposed on the proximal end side link hub, and an end effector is disposed in the distal end side link hub so as to face inside of arrangement of the link hubs and perform work onto the workpiece.

A range finder device for monitoring a 3D position of a robot processing tool relative to a tracking device mounted adjacent to the robot processing tool is disclosed. A body attachable to the tracking device supports a laser unit and a camera unit. The laser unit projects a triangulation laser mark on a target area of the processing tool. The mark, a tool center point and a processing area are in a field of view of the camera unit. A control unit controls operation of the laser unit and has an image analyzer circuit for receiving an image signal produced by the camera unit, producing triangulation laser measurement data from the triangulation laser mark in the image signal, generating a signal indicative of the position of the robot processing tool as function of the triangulation laser measurement data, and transmitting the image signal produced by the camera unit.

In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

Provided is a welding position detection device capable of improving the welding position detection accuracy. The welding position detection device includes a calculation unit that irradiates two members to be joined with laser light to calculate approximate straight lines of the respective members, calculates an end portion of one member of the two members on the basis of the approximate straight line of the one member, and calculates a virtual straight line which is a straight line connecting the calculated end portion of the one member and the approximate straight line of the other member of the two members and having a specific angle with respect to the approximate straight line of the one member, and a detection unit that detects an intersection point of the calculated virtual straight line and the approximate straight line of the other member as a welding position.

This method for acquiring weld pass information pertaining to execution conditions for a weld pass for welding two workpieces, which are to be welded by the welding robot, includes: a step in which a weld pass for welding the two workpieces is extracted from 3D CAD data; a step in which a wall determination model having a predetermined 3D shape is prepared; a step in which the wall determination model is positioned in the direction extending towards the outside of the weld pass, the end of welding which is the starting point or ending point of the weld pass serving as a reference; and a step in which, for the positioned wall determination model, a determination is made as to whether there is interference from a wall surface demarcated by another member different from the two workpieces.