| 摘要 |
PROBLEM TO BE SOLVED: To provide a calibration method and a calibration apparatus for a robot, capable of performing calibration without using devices such as a three-dimensional measuring instrument, a displacement detector, a hand-held camera, by coupling ends of a pair of manipulators to change its attitude.SOLUTION: A pair of manipulators 10A, 10B are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators 10A, 10B, and a position and attitude of an installation point WB of a slave robot with reference to an installation point WA of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. An error vector for each attitude change between actual measured values and the calculated values of the installation point WB is calculated, and robot constants of both manipulators are identified from the error vector. |
