6-axis robot axis-to-axis offset detection method

摘要

PROBLEM TO BE SOLVED: To measure and correct the displaced amount of an inter-axis offset of a six-axis robot.;SOLUTION: A light emitting diode is installed in a flange provided at a tip of a robot arm, and an arm end is moved to a plurality of movement target positions on the axis X(Xb) of a robot coordinate. Then, the position of the light emitting diode is measured by a three-dimensional gauge. Based on the position of the light emitting diode when the tip of the arm moved correctly to the movement target position and a real movement position, the inter-axis offset amount F is detected. DH parameters are corrected based on the inter-axis offset amount F.;COPYRIGHT: (C)2013,JPO&INPIT