| 摘要 |
<P>PROBLEM TO BE SOLVED: To facilitate carrying out the calibration of the manipulator having a visual sensor anyplace, to greatly reduce man-hour, and to quickly carry out the calibration even in a circumference where special tools can not be prepared. <P>SOLUTION: A method includes detecting points on a straight line part of a jig G arranged around the manipulator M, respectively, by a laser displacement sensor LS every plurality of observing position postures. Next, the coordinate of the robot coordinate system which is the detected point on the straight line part is obtained respectively from parameters and the value detected by the laser displacement sensor LS every observing position postures. A plurality of unit directional vector of the straight line part based on the robot coordinate system are calculated from a plurality of sets while making the two of detecting point one set. A simultaneous equation are formed from the calculated unit directional vector of the straight line part and the unit directional vector of the straight line part shown by the vector parameter of the robot coordinate system, and the calibrated value is obtained by a least-square method. <P>COPYRIGHT: (C)2012,JPO&INPIT |
