| 摘要 |
A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.
|
