| 摘要 |
PROBLEM TO BE SOLVED: To provide a calibration method of a robot for carrying out TCP calibration of a jig and the robot with high accuracy without depending on skill of a worker, and also to provide an apparatus used for the same. SOLUTION: The apparatus includes: a tool 12; a sensor 14 for detecting the contact of the tool and a workpiece; the robot 18 numerically controlled to six degrees of freedom; a control device 20 for storing a sensor measuring value and a robot position and posture during tool contact and controlling the robot; and the jig 22 fixed in the operation range of the tool and having three planes that are mutually intersected orthogonally or at an angle of a known degree. A sequence is performed by the control device 20, which includes a touch sensing step for making the tool 12 contact with the three planes 22a, 22b, and 22c and storing the three-dimensional coordinate of each contact point; a coordinate system setting step for correcting a coordinate system allowing a point at which the three planes intersect to be an original point; and a tool parameter setting step for calculating the reference position of the tool 12 to a robot hand tip flange surface 16. COPYRIGHT: (C)2011,JPO&INPIT |
