Method of calibrating an industrial robot

摘要

A quick method of calibrating an industrial robot. A calibrating device (3) which has 6 degrees of freedom and has a displacement detector for each of 6 axes is mounted either to a reference surface (lp) established on the robot (1) itself or to a reference surface having a known positional relation to the robot. The front end of the calibrating device (3) is mechanically coupled to the front end of the wrist of the robot. The position and the posture of the robot are calculated from the data for the position and the posture of the calibrating device derived from the displacement detectors of the calibrating device (3) to calibrate the robot.