6-axis origin position calibration method of 6-axis robot, the control device of the 6-axis robot, the 7-axis robot 7 axis origin position control device of the calibration method and 7-axis robot

摘要

PROBLEM TO BE SOLVED: To provide a method for calibrating a sixth axis home position of a six axes robot for properly calibrating a home position of the sixth axis of the six axes robot without requiring installation of a large-sized detection instrument.;SOLUTION: A laser measuring device for measuring a distance from a measuring object located on an upper side is installed on an installation surface and a measuring plate is mounted at an axial center of the sixth axis. When one end side of the measuring plate is located to be a first measuring point in a state of the six axes robot taking an attitude in which a second axis of the six axes robot is rotated by 90 with respect to an axial center of a first axis, a third axis is rotated in a direction of the installation surface so that an axial center of a forth axis is parallel to the axial center of the first axis, and a fifth axis is rotated so that an axial center of the sixth axis is parallel to the installation surface (S1), a first distance L1 up to the first measuring point is measured by the laser measuring device (S2). When the first axis is rotated, the other end side of the measuring plate is located to a second measuring point (S3) and a second distance L2 up to a second measuring point is measured by the laser measuring device (S4), an error angle 6 of the sixth axis is determined by a (1) formula (S5) and the home position of the sixth axis is calibrated by using the error angle 6 (S6).;COPYRIGHT: (C)2012,JPO&INPIT