DELTA ROBOT CALIBRATION METHODS, CONTROL SYSTEM, DELTA ROBOT AND ROBOT SYSTEM

摘要

A method of calibrating a delta robot (12), the method comprising executing an arm movement (54) by moving one driving link (32a, 32b, 32c) relative to other two driving links (32a, 32b, 32c); measuring a movement of a point (50) in fixed relationship with a tilting body (24) during the arm movement (54) as an arm measurement; executing a tilting movement (56) by tilting the tilting body (24) about a fifth axis (44); measuring a movement of the point (50) during the tilting movement (56) as a tilting measurement; and calibrating a fourth axis (40) based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis (44), a control system (26), and a robot system (10) are also provided.