Arm origin calibrating method for an articulated robot

摘要

An arm origin calibrating method for an articulated robot is capable of implementing highly accurate calibration without requiring special high-precision measuring devices. A round bar is mounted on a first arm and a round hole is provided in a second arm. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the first direction until the round bar comes in contact with the inner surface of the round hole. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the second direction reverse to the first direction until the round bar comes in contact with the inner surface of the round hole. An offset angle of the second arm is detected on the basis of the two detected rotation angles.