CALCULATING METHOD OF REFERENCE POSITION OF JOINTED ROBOT

PURPOSE:To calculate a reference position inexpensively with a high precision by moving the hand of a jointed robot to the same position in right-arm and left-arm attitudes and operating an additive average of respective moving angles in consideration of moving directions. CONSTITUTION:Arms 3 and 4 are set to a right-arm attitude as shown by solid lines, and the arm 3 is turned at a prescribed angle, and the arm 4 is moved to a reference point P, and a turning angle phiA is detected by a position sensor and is stored in a memory 6. Next, arms 3 and 4 are set to a left-arm attitude as shown by broken lines, and the arm 3 is turned is the reverse direction at the same angle as a time corresponding to the turning angle of the right arm, and the arm 4 is moved to the reference point, and a turning angle phiB is detected and is stored in a memory 7. An arithmetic unit 8 operates an additive average (phiA+phiB)/2 in consideration of directivities of contents in memories 6 and 7 to calculate a deviation quantity of the arm 4 from a reference axis Z with a high precision.