A CALIBRATION METHOD

摘要

A method for calibration of an industrial robot having a plurality of sections movably connected to each other for rotation about a plurality of movement axes, wherein an angle measuring member (7) is mounted on the robot so that it measures angular changes of the axis or axes to be calibrated, relative to a vertical line. The method comprises measuring a reference direction, selecting at least one of said axes as a calibration axis (10) and another of said axes as a measuring axis (14), moving the robot between at least two calibration positions, wherein the moving includes rotating the robot about the measuring axis, and the calibration positions are selected such that the direction of the calibration axis differs from the vertical line, reading angular values from the angle measuring member in said calibration positions, and calibrating the calibration axis based on said angular values and the measured reference direction.