An industrial robot zero calibration method

The present invention discloses a robot zero calibration method, comprising: a biaxial inclination sensor mounted on the second axis, parallel relationship and maintain the sensor coordinate system and the two tilt axes coordinate system is obtained by controlling the robot while moving the shaft 1 base two tilt angle (i.e. the reference zero) and zero angle axis; axis tilt sensor is then mounted on the shaft 6, to maintain a parallel relationship tilt sensor coordinate system and the robot coordinate system axis 6, by identifying the the method of obtaining the zero axis 3-6. The present invention is only twice the instrument installation and manual operation can be realized throughout the zero calibration of the robot, and a robot saving auxiliary clamp mounting surface (or mounting hole) of the manufacturing costs, and improves the alignment accuracy of the robot is zero, saving operating time zero calibration.