| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of accurately performing work by means of an arm.SOLUTION: A robot comprises an arm and a force sensor, and performs first calibration for calibrating the arm by moving a portion of a first member attached to a tip end of the arm so as to have a first distance from the first member to a second member and then making the arm have a plurality of attitudes on the basis of at least an output value of the force sensor, and second calibration for calibrating the arm by moving a portion of the first member so as to have a third distance from the first member to the second member after separating a portion of the first member so as to have a second distance from the first member to the second member, and then making the arm to have one or more attitudes different from the plurality of attitudes in the first calibration on the basis of at least an output value of the force sensor.SELECTED DRAWING: Figure 7 |
