Industrial robot zero position defining method

The invention discloses an industrial robot zero position defining method. The industrial robot zero position defining method comprises the steps that a double-shaft dip angle sensor is arranged on a second shaft, a dip angle sensor coordinate system keeps parallel to a second-shaft coordinate system, and two dip angles (namely reference zero positions) of a robot base and a zero position angle of the second shaft are obtained by controlling movement of a first shaft and the second shaft; then the double-shaft dip angle sensor is arranged on a sixth shaft, the dip angle sensor coordinate system keeps parallel to a sixth-shaft coordinate system, and the zero position of a third shaft, the zero position of the fourth shaft, the zero position of the fifth shaft and the zero position of the sixth shaft are obtained in an identification method. According to the industrial robot zero position defining method, zero defining of a whole robot can be achieved by two times of instrument installation and manual operation, manufacturing costs of an auxiliary clamp and an installation surface (or an installation hole) of the robot are saved, the zero position aligning accuracy of the robot can be improved, and operation time of zero position defining is shortened.