ROBOT SYSTEM AND CALIBRATION METHOD FOR THE SAME

摘要

PROBLEM TO BE SOLVED: To easily and accurately perform calibration.SOLUTION: A calibration jig 5 is fixed to a hand 2b, and the feature point on the calibration tool 5 is moved to a predetermined position by moving the hand 2b. The position and the attitude of the origin of the coordinate system of the tool of the coordinate system of the calibration tool 5 in a camera coordinate system are detected from the position coordinate of the feature point in the camera coordinate system of that time. The tool coordinate system can detect the relative relationship between the feature point in the camera coordinate and an arm tip end coordinate system because it agrees with the arm tip end coordinate system using the hand 2b as a reference, and can detect the relative relationship between the calibration tool 5 and the hand 2b. A rigid body conversion matrix between the camera coordinate system and the robot coordinate system can be obtained by using the relative relationship between the calibration tool 5 and the hand 2b.