| 摘要 |
<p>Rotating joint axes having adjacent rotating joint axes not parallel to one another in a robot device having a plurality of rotating joint axes, wherein rotating angles of rotating joint axes and tilt angles, with respect to a gravitational direction, of a robot arm are measured at at least three rotating angle positions, regression coefficients α, β are calculated from the obtained rotating angle information Υi and tilt angle information Yi using as a regression function Y= αSIN(Υ+β)+η, and the origin of rotating joint axes are adjusted based on the obtained tilt angles and the tilt directions of rotating joint axes.</p> |
