ORIGIN SETTING METHOD FOR ROBOT ARM AND ORIGIN RETURNING METHOD FOR ROBOT ARM

摘要

PROBLEM TO BE SOLVED: To automate setting of an origin by incorporating simple signal transmission means and signal reception means in a robot arm and further to improve precision of the origin setting.SOLUTION: One of frames of a robot arm which are connected together through a joint is provided with an LED light emitting element as signal transmission means. The other is provided with an optical sensor element as signal reception means. A control part rotates one frame relatively to the other frame. Then the control part acquires a first rotation angle when the intensity of light emitted from the LED light emitting element and received by the optical sensor element exceeds a predetermined threshold. Then the control part acquires a second rotation angle when the intensity of the light emitted from the LED light emitting element and received by the optical sensor element decreases below the predetermined threshold. The control part calculates a center value between the first rotation angle and the second rotation angle and sets the center value as an origin.