| 摘要 |
PROBLEM TO BE SOLVED: To provide a tool and a method for calibrating tool position for achieving the coincidence of the TCPs (tool center point) in three attitudes of the robot at one same point irrespective of the skill of an operator.SOLUTION: A tool coordinate system having a representative point of a tool 2 attached to the finger of a robot as the origin P is calibrated. A spherical tool 12 having a spherical surface 13 with a constant radius from the center A and a positioning tool 14 coming in contact with the spherical surface 13 to position the center A of the spherical surface 13 at a predetermined position B are prepared. The spherical tool 12 is attached to the tool 2 so that the representative point P of the tool 2 coincides with the center A. The positioning tool 14 is fixed at a predetermined position. The spherical surface 13 of the spherical tool 12 comes in contact with the positioning tool 14 to position the center A of the spherical tool 12 at the position B of the positioning tool 14 while the tool 2 is held in three or more attitudes. The relative position of the representative point P of the tool in the tool coordinate system is determined based on the position-attitude data of a reference point on a face plate in a robot coordinate system in each of the three or more attitudes of the tool 2. |
