Welding control method, welding system, and welding control program

A welding system comprising at least:

• a welding robot;
• a robot control apparatus;
• and
• an imaging apparatus,
• wherein the imaging apparatus captures a welding image during welding performed by the welding robot, and
• wherein the robot control apparatus
• obtains at least a gap width at predetermined time intervals on a basis of the welding image,
• determines a target value of molten pool information relating to a welding proceeding direction on a basis of the gap width,
• calculates a difference value between a calculated value of the molten pool information relating to the welding proceeding direction and the target value, and
• corrects at least one of setting values of welding conditions on a basis of the difference value.

A welding control program causing a processor included in an apparatus to achieve:

• an obtaining function of obtaining at least a gap width at predetermined time intervals on a basis of a welding image obtained during welding;
• a target value determination function of determining a target value of molten pool information relating to a welding proceeding direction on a basis of the gap width;
• a difference value calculation function of calculating a difference value between a calculated value of the molten pool information relating to the welding proceeding direction and the target value;
• and
• a correction function of correcting at least one of setting values of welding conditions on a basis of the difference value.