| 摘要 |
inputting the number of robot's arms to an operational device, moving the robot to a calibration point by a controller; reading out data input to the operational device by a measuring jig; obtaining inverse-kinematic solution; supplying a kinematic parameter obtained by the operation device from the inserse-kinematic solution to the controller; and determining whether the data transmission from the operational device to the controller is completed or not. Only by the measurement once, the position and direction are accurately measured to reduce time required, and data with respect to the measured position and direction is used to facilitate the calibration and enable automation.
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