Zero calibration method of six-axis industrial robot
An industrial robot and zero point calibration technology, which is applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of zero point loss, etc., and achieve the effect of improving accuracy, high precision, and simple and convenient calibration process
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[0041] Step 1, select the reference position and set it to (0,0,0,0,0,0);
[0042] Step 2, calibrate the zero point position of the first joint axis, and proceed as follows:
[0043] Step 2.1, on the basis of the first joint axis as the reference zero point, place the inner side of the second joint axis at a horizontal position, and record the rotation angle of the second joint axis;
[0044] Step 2.2, rotate the first joint axis in units of 10°, adjust the inner side of the second joint axis to the horizontal position, write down 36 sets of data in turn, and process and analyze them, and obtain that the angle of the first joint axis differs by 180°, The second joint axis angle difference is the largest two sets of data;
[0045] Step 2.3: On the basis of the two sets of data obtained, rotate in units of 1° within the angle of the first joint axis -10° to +10°, adjust the inner side of the second joint axis to the horizontal position, and record 40 groups in turn Data, and i...
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