Brief description of the initialization of the position of a robot arm at the start of a cycle of focntionnement.

摘要

Initialization process of the position of a robot arm (1) at the beginning of a cycle of operation in which the position of the arm has been recorded in the form of the coordinates of the articulation states (5) in a permanent memory (13). The control computer compares the stored and the current position of the arm (1) to the predetermined position of the setting and determines the movement that is to be applied.