| 摘要 |
PURPOSE:To provide an industrial robot incorporating a geometric reference position setting means which can simply carry out monoaxial mastering relating to each of joint shafts of a joint type robot with no spacial restriction. CONSTITUTION:A mechanical reference position setting means composed of two engaging parts 22, 24 is provided to each of joint parts 16 and the like of a robot body 10, a mechanical reference position is set by the engagement between the two engaging parts 22, 24 before and after the replacement of drive motors and retarders in joint drive sources. After the setting, the positional data are inputted so as to simply carry out monoaxial mastering. |
