A method for detecting an axial spacing - offset of a 6 - - robot axial

摘要

A method for detecting a axes distance - offset (f) of a robot (2), which a 6 - - robot to the axis, which contains a socket joint with an installation surface and one of the socket joint opposite the robot arm (6) is fixed,where the robotic arm (6) by the sequential connect a first connection (7), a second connection (8), a third connection (9), a fourth connection (10), a fifth connection (11) and a sixth connection (12) of a robot arm (6) by means of a first rotary joint (j1), a second rotary joint (j2), a third rotary joint (j3), a fourth swivel joint (j4), a fifth pivot joint (j5) and of a sixth pivot joint (j6) is configured,with an axis of rotation of a rotary shaft (14) of the second connection (8) with the first connection (7) which connects the second rotary joint (j2) parallel to the perpendicular direction to an axis of rotation of a rotary shaft (14) of the first connection (7) with the socket joint first rotary joint (j1) extends,with an axis of rotation of a rotary shaft (14) of the third connection (9) with the second connection (8) be connected to the third rotary joint (j3) parallel to the axis of rotation of the rotary shaft (14) of the second hinge (j2) extends,with an axis of rotation of a rotary shaft (14) of the fourth connection (10) with the third connection (9) connecting fourth swivel joint (j4) parallel to the vertical direction of the axis of rotation of the rotary shaft (14) of the third rotary joint (j3) extends,with an axis of rotation of a rotary shaft (14) of the fifth connection (11) with the fourth connection (10) be connected to the fifth pivot joint (j5) parallel to the vertical direction of the axis of rotation of the rotary shaft (14) of the fourth pivot joint (j4) extends,with an axis of rotation of a rotary shaft (14) of the sixth connection (12) with the fifth connection (11) connecting sixth pivot joint (j6) parallel to the vertical direction of the axis of rotation of the rotary shaft (14) of the fifth pivot joint (j5) extends,wherein coordinates of the first to sixth compounds (7, 12) in the case of the axes of rotation of the rotating shafts (14) of the first to sixth pivot joints (j1, j6) are fixed, and ..