Initialisation procedure of the position of a roboterarm at the beginning of a coding cycle

摘要

Method of initialising the position of a robot arm (1) at the start of an operating cycle in which the position of the arm has been recorded in the form of coordinates of the articulation states (5) in a permanent memory (13). The control computer compares the recorded and actual position of the arm (1) with the predetermined initialisation position and determines the appropriate movement to be applied. IMAGE