| 摘要 |
PROBLEM TO BE SOLVED: To provide an error detection method capable of detecting an absolute value of an angle deviation (an error angle) of respective joints for constituting a robot.SOLUTION: An error detection method comprises: a step of calculating a rotary shaft vector and a central vector of a rotary surface when respective arms (L1-L6) are rotated based on measured tip position vectors, respectively by measuring the tip position vectors of the robot hand tip (P7) at three points respectively when the respective arms (L1-L6) are independently rotated; a step of calculating joint position vectors of the respective joints and arm length vectors of the respective arms from the rotary shaft vector and the central vector; a step of calculating a joint position error vector being a difference between the calculated joint position vector and a prestored master joint position vector; and a step of calculating the error angle between an angle of each arm and a prestored master angle from the joint position error vector, the rotary shaft vector and the arm length vector. |
