A METHOD AND A SYSTEM FOR GENERATING DATA FOR CALIBRATING A ROBOT

摘要

A method and system for generating deviation data indicative of inaccuracy in kinematic parameters of a robot are presented. In the method, a planar reference surface is placed in a fixed position with respect to a base frame of the robot. An end- effector of the robot is controlled (202, 203) to be successively in four or more test positions. For each test position, a distance from the end-effector to a test position-specific test point on the planar reference surface is detected (204). Estimate positions of the tests points are obtained (205) on the basis of the detected distances and joint variables corresponding to each of the test positions. The deviation data is based on deviations of the estimate positions from a geometric plane. These deviations indicate the inaccuracy in the kinematic parameters because the real positions of the test points are coplanar because they belong to the planar reference surface.