Patent ID: 6035695
Filing Date: 2000-03-14
Classification: B25J,G05B

Abstract:
A calibration method of an industrial robot, the robot being normally operable to carry out an industrial job, the method comprising the steps of:A. providing a signal generation part attached on a movable part of the robot for providing a signal about a position of the movable part, and a signal detection part for detecting the signal from the signal generation part;B. acting on the movable part for producing an offset thereof from a desired initial position;C. performing a calibration operation separate from the normal operation by moving the offset movable part;D. generating calibration data on the basis of the position of the offset movable part detected by the signal detection part;E. calculating a difference between the generated calibration data and preset calibration data; andF. amending the preset calibration data on the basis of the difference so that the offset is compensated;step C further comprising the steps of:C1. rotating the offset movable part in one rotational direction,C2. stopping the offset movable part when a variation of the signal detected by the signal detection part is checked, andC3. rotating the offset movable part in a reverse rotational direction;wherein step D further comprises generating the calibration data on the basis of the position of the offset movable part at a time when the variation of the signal is detected by the signal detection part during the rotation of the offset movable part in the reverse rotational direction.