The control system of a robot which track continual seams for welding and control method thereof

The present invention relates to a tracking (tracking) control system and a control method of the position and posture by interpolating the position of the robot tool is detected by using a detected position by the weld line position detecting sensor attached to the robot tool tip. The invention as this is installed in the front in the traveling direction of the sensor for detecting the position at the tip of the robot, and, further comprising a calibration means for converting the detection position of the sensor in the reference coordinate system of the robot moves to the step where the robot is taught and a step of converting the sensor detection position in the world coordinate system of the robot stored in the internal memory; In order to get the TCP tracking position of the tool end point obtaining step that the direction of movement through the teachings of the command TCP obtained a detection position of the sensor stored in the internal memory; Obtaining a corrected using the difference of the data and robot command position and eoteonaen the detection position of the sensor position and orientation; The step of re-calculating the position and attitude so as to maintain a taught to move the corrected position and the position moving speed; A step of converting the position and the attitude calculated by the position in each axis of the robot moves performs servo control of the robot; To provide a continuous weld seam tracking control system and the control method of the robot proceeds to the features. Robots weld seam tracking, arc welding, laser welding,