ROBOT ARM APPARATUS, CALIBRATION METHOD, AND PROGRAM

摘要

[Problem] To make it possible to carry out calibration of an internal model more efficiently and more accurately. [Solution] Provided is a robot arm apparatus equipped with an arm part that is composed of a plurality of links coupled together by joints, and that is designed such that it is possible to connect an imaging unit. An internal model which includes at least geometric information of the arm part and focal position information of the imaging unit is updated using internal model information acquired while the imaging unit is facing a reference point in real space.