Calibration process for the motion of an industrial handling robot arm, involves setting tool centre position of arm as reference position

摘要

The handling arm of an industrial robot is formed from a number of hinged links that each have a controlled motion provided by high performance motors. The calibration of the robot arm is defined in terms of the position and orientation of the arm links. The tool centre position of the arm is set at a reference position. Motion from this point defines the link positions.