| 摘要 |
PROBLEM TO BE SOLVED: To perform highly accurate calibration in a robot system which is equipped, near the tip of a tool, with an optical sensor for measuring shapes by sheet light irradiation.SOLUTION: A calibration method, provided for a calibration target having a triangular pyramid shape, includes: a first step of measuring the shape around an apex of a triangular pyramid by linearly moving a tool tip position without changing a tool posture of a robot, calculating the apex position of the triangular pyramid in sensor coordinates at the time when the apex position is irradiated with sheet light on the basis of the change in sequentially acquired inflection points due to the triangular pyramid shape, and also calculating a tool position in robot coordinates at the time; a second step of performing the first step at least three times while changing a detection position so that the apex position of the triangular pyramid has different values; and a third step of calculating data aggregated in the first step and the second step to calculate the positional relation between a sensor and a tool. |
