Robot device and method of adjusting origin of robot

摘要

In a robot machine having a plurality of rotational joint axes, a rotational angle of rotational joint axis and a tilt angle of robot arm against the direction of gravity are measured at three or more of rotational angle positions to obtain rotational angle information THETAi and tilt angle information Yi, and regression factors alpha and beta are derived by computation from a resulting regression function of Y=alpha SIN(THETA+beta)+gamma, thereby performing an original point adjustment of rotational joint axis based on the obtained tilt angle and tilt direction thereof.