Biaxial origin position calibration manner of 6 axial robot, axial origin position calibration manner of the control unit and the poly glenoid die robots of 6 axial robot and the revolving shaft of the control unit null

摘要

PROBLEM TO BE SOLVED: To provide an axial home position calibration method for properly calibrating a home position of an axis in an articulated robot without requiring mounting of an exclusive tool and without installation of a large-sized detection device.;SOLUTION: In a controller 3 for the robot 2 constituted to cross a 1-axis rotary shaft and a 2-axis rotary shaft mutually and orthogonally, to allow a measuring point to exist in a plane including the 1-axis rotary shaft and crossing the 2-axis rotary shaft orthogonally, and to make a 3-axis rotary shaft and a 5-axis rotary shaft cross the plane orthogonally, each axis is moved to return a coordinate of the measuring point from the state where the robot 2 is held at measuring attitude, a coordinate of the measuring point before moving each axis is compared with a coordinate of the measuring point after moving each axis by utilizing the characteristic where the coordinate of the measuring point before moving each axis does not agree with the coordinate of the measuring point after moving each axis if a home position of the 2-axis is deviated, and an angle of error is led out to calibrate the home position of the 2-axis.;COPYRIGHT: (C)2010,JPO&INPIT