ORIGIN OFFSET ADJUSTING METHOD FOR ARTHROSIS TYPE ROBOT

摘要

PURPOSE:To find an origin offset easily and automatically by operating and teaching a robot so that a meter installed at the tip end of the robot indicates the same value at four optional different points in respective measurement planes. CONSTITUTION:A micrometer is attached to the tip end of the robot to measure (n-1) mutually different planes (n; degree of freedom of robot). Further, measurements are taken at four properly distant points in respective planes. Then, all of angles obtained by an angle detector at respective attitudes are stored in a storage device 10 and substituted in an equation and a calculating device 11 calculates an angle offset. The calculated angle offset is corrected by a correcting device 11 and a track taught to the robot is realized by an executing device 15.