| 摘要 |
A calibrating technique is provided for the position/attitude or only the position of an arm tip of a robot, such as an articulated type of robot. At plural positions, respective n pieces of errors (&Dgr;&phgr;n, wherein n is a positive integer larger than a value obtained by dividing the number of unknown parameters by 6 or 3) are calculated. Each error is a difference between a position of the arm tip measured and a position commanded by control. An inter-error difference (&Dgr;&egr;y (1≦̸y≦̸n−1)) between a reference error (&Dgr;&phgr;m (1≦̸m≦̸n)) arbitrarily selected from the n-piece errors (&Dgr;&phgr;n) and other errors (&Dgr;&phgr;x (x≦̸n, except for m)) other than the reference error (&Dgr;&phgr;m) is calculated. A parameter, which is a basis for calculating the inter-error differences (&Dgr;&egr;y), is made to converge until a sum of absolute values of the inter-error differences (&Dgr;&egr;y) becomes within a given threshold (&egr;0 (&egr;0>0)).
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