| 摘要 |
The method comprises the steps of; (a) installing a jig(3) at a straight line of arm 1(1) and arm 2(2), (b) moving arm 1, and arm 2(1,2) to the right joint position and obtaining a pulse value(P1) for arm 2, (c) moving arm 1, arm 2(1,2) to the left articulation position and get a pulse value(P2) for arm 2, and (d) obtaining the mechanical original point using the pulse values(P1, P2) as follows; {(P1+P2)/2} x [360 / {(multiple number)x( Pulse number of arm 2 encoder)x(reduction ratio of arm 2)} .
|
