5 axial starting point position calibration method of 6 axial robot, axial starting point position calibration method of the control control equipment and the multi joint type robots of 6 axial robot and the axis of rotation of the control control equipment 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 4-axis rotary shaft, a 5-axis rotary shaft, and a 6-axis rotary shaft mutually at one point, and to make the 5-axis rotary shaft cross the 4-axis rotary shaft and the 6-axis rotary shaft orthogonally, each axis is moved to return a coordinate of a 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 5-axis is deviated, and an angle of error is led out to calibrate the home position of the 5-axis.;COPYRIGHT: (C)2010,JPO&INPIT