| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method capable of correctly and easily calibrating relation of two different coordinate systems, and an apparatus therefor. Ž<P>SOLUTION: The parameter calculating method for calculating a parameter for making correspondence between two different three-dimensional coordinate systems includes: a step (S11) of making a mark 40 in a fixed posture in a flange coordinate system 44 on a flange 36 whose movement in a robot coordinate system 42 is controlled; a step (S13) of moving the flange 36 thereby moving the mark 40 to recognition positions 24a-24e; a step (S14) of acquiring posture information indicating the posture of the flange 36 in the robot coordinate system 42 and coordinate information indicating the position of the mark 40 in a camera coordinate system 26 at the recognition positions 24a-24e; and a step (S16) of calculating the parameter for making correspondence between both coordinate systems based on the posture information for each of the recognition positions 24a-24e and the coordinate information. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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