| 摘要 |
Method for setting a robot by determining the zero-adjustment errors in the angle encoder of a robot arm, at at least two segments which are articulated in series on parallel axes and each one including an angle encoder, comprising, in series, a shoulder joint, and arm segment, an elbow, a forearm, having a wrist, and a movable reference point on the forearm. According to the present invention the method comprises the following steps: - defining a fixed reference point R at a position which is fixed with respect to the axis O of the shoulder joint; - moving the movable reference point into coincidence with the fixed reference point R, the arm successively assuming two possible symmetrical configurations; - reading the two angles b1, b2 of the elbow, and, - determining the zero error in the angle encoder of the elbow as being equal to half the difference between the sum of the two angle readings and the theoretical sum. <IMAGE>
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