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Method of measuring origin of moving section in robot and apparatus therefor

  • US 4,505,049 A
  • Filed: 01/26/1983
  • Issued: 03/19/1985
  • Est. Priority Date: 02/02/1982
  • Status: Expired due to Fees
First Claim
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1. A method of measuring the origin of movable arm elements with respect to a reference coordinate system of a robot having a robot arm including a base, a first movable arm element having a longitudinal axis and coupled to said base for rotation about an axis perpendicular to said longitudinal axis, and at least one second movable arm element coupled to said first movable arm element for rotation about an axis, said method comprising the steps of:

  • forming a mounting structure at a predetermined position on said movable arm element such that said mounting structure extends in a direction perpendicular to said longitudinal axis and is mounted to said first movable arm element in a plane perpendicular to the axis of rotation of said first movable arm element;

    orienting said first movable arm element such that the axis of rotation of said first movable arm element extends horizontally and defines an origin with respect to said reference coordinate system;

    mounting a sensor to said mounting structure for detecting an angle of inclination of said first movable arm element about said axis of rotation of said first movable arm element and with respect to said origin; and

    rotating said first movable arm element about said axis of rotation of said first movable arm element in response to a detected angle of inclination to position said first movable arm element at said origin.

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