| 摘要 |
PROBLEM TO BE SOLVED: To easily perform calibration of a manipulator every place, to significantly decrease the number of work steps for jig preparation, to perform calibration without delay even in such an environment where a special jig cannot be prepared, and to decrease the number of steps and reduce waiting time that is not required for performing practical work required for the manipulator. SOLUTION: A dot on a straight part of a jig G is detected with a laser displacement sensor LS for each of a plurality of observation positions and attitudes. From the detected value, the coordinates of a robot coordinates system for the detected point on the straight part is available for each observation position and attitude. With two detected points as a pair, a plurality of unit direction vectors at the straight part are calculated with reference to the robot coordinates system from a plurality of pairs. Simultaneous equations are generated from the unit direction vector at the straight part that has been calculated and the unit direction vector at the straight part which is represented by a vector variable of the robot coordinates system, and then a manipulator is calibrated by a method of least square. COPYRIGHT: (C)2012,JPO&INPIT |
