| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide means for performing calibration without a labor of visual positioning or a need of setting a position in advance when a tool tip of a robot is touched to a workpiece, in a calibration method of a relative position and posture between the robot and the workpiece. Ž<P>SOLUTION: A robot 1 is made into a force control condition to facilitate positioning, and a processing for finding an ideal touch position from an actual position, where the robot 1 is touched, is repeated, so as to perform calibration between the robot 1 and a workpiece 6 by finding an actual position and posture of a workpiece coordinate system. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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