| 摘要 |
PURPOSE: To perform a path control of a linear or circular computation with high accuracy, by conducting an operation of coincidence a reference point at the tip of wrist part of a robot arm with a known base reference point on the mounting base coordinates twice with changing attitude of each arm and determining the length of each arm and the angle of each arm reference point to adjust an origin. CONSTITUTION: Absolute position detectors for detecting the rotational positions of a first arm 3 and a second arm 5 in the horizontal direction are provided and an operation of coincidence a base reference point at the tip of wrist part of a robot arm with a known base reference point B on the mounting base coordinates X-Y of a robot mechanism is conducted twice with changing the attitude of each arm. Next, the angles of each arm (θ1 ,θ3 ), (θ2 ,θ4 ) of the coincident position of the reference point are determined by a detector, and the lengths L1 , L2 of the first and second arms and the anglesθ6 ,θ7 of the reference point positions d1 , d2 of the first and second arms to the base reference point B are determined by the angles determined by the detector and the position of the base reference point B for adjusting an origin.
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