| 主权项 |
1. A calibration system calibrating parameters of a mechanical model representing a wrist part of a robot utilizing a target fastened at a hand of the robot at a predetermined position with respect to a joint closest to the hand, the target being able to be changed in position and posture by the robot, and an imaging device set around the robot, the calibration system comprising:
a preliminary position generating part using a position of the robot when the target is arranged at a position where the target is included in a field of vision of the imaging device as an initial position and changing the posture of the target without changing the position of the target to generate a plurality of positions of the robot as a plurality of preliminary positions, a target detecting part using an image of the target at the image acquired by the imaging device as the basis to acquire information on the position of the target on the image and the distance between the target and the imaging device, an end point position storing part using the plurality of preliminary positions as starting points, making the robot move translationally so that the positions of the target detected by the target detecting part become predetermined positions and the distances become predetermined distance, and storing the positions of the robot after the translational movement as end points, and a parameter calculating part using the positions of the end points stored by the end point position storing part as the basis to calculate the parameters of the mechanical model. |
