METHOD FOR CALIBRATING ORIGIN POSITIONS OF FOUR AXES OF SIX AXIS ROBOT, CONTROL DEVICE OF SIX AXIS ROBOT, METHOD FOR CALIBRATING ORIGIN POSITIONS OF FIVE AXES OF SEVEN AXIS ROBOT AND CONTROL DEVICE OF SEVEN AXIS ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a method for calibrating origin positions of four axes of a six-axis robot which can appropriately calibrate origin positions of four axes for a six-axis robot without the need to provide a large detection instrument.;SOLUTION: For a vertical multijoint six-axis robot, a measurement aid for fixing a measurement point at extensions of axial centers of six axes is attached, five axes are rotated by a predetermined angle of θ 5_1 from the extensions of the axial centers of four axes to move the measurement point to a first measurement position (S1). The first measurement position is measured using a laser displacement gauge (S2), and the five axes are rotated by an angle θ in an opposite direction of the above rotating direction from the extensions of the axial centers of the four axes (S3). Then, at least six axes are fixed, the measurement point is moved to a second measurement position which is the same as the first measurement position (S4), the second measurement position is measured using the laser displacement gauge (S5), an error angle Δθ4 of the four axes is obtained by equation (4) (S6) and origin positions of the four axes are calibrated using the error angle Δθ4 (S7).;COPYRIGHT: (C)2012,JPO&INPIT