ROBOT CALIBRATION METHOD

摘要

Disclosed is a gradual robot calibration method which gradually reflects state changes in a robot caused by changes in peripheral conditions such as temperature, humidity, or the like. The robot calibration method according to the present invention calibrates the robot using a measurement jig having a plurality of measurement points, wherein the robot calibration method comprises: a first data acquisition step of selecting one or more measurement points from among the measurement points on the measurement jig in a first pause period between a first process and a second processing subsequent to the first process, and measuring the location of the measurement point selected using a sensor coupled to the robot to obtain one or more calibration data including location information of the selected measurement point; a first update step of updating N calibration data, each of which includes location information of one or more measurement points preliminarily selected from among the measurement points on the measurement jig prior to the first process and measured by the sensor, to N calibration data using the calibration data acquired in the first data acquisition step; and a first calibration step of calibrating the robot in the first pause period on the basis of the N calibration data updated and acquired in the first update step. The method of the present invention has a time interval for reflecting state changes in the robot, which is shorter than the interval for acquiring full data and performing a calibration, and can reflect state changes in the robot in a more conservative and gradual method.