| 摘要 |
PROBLEM TO BE SOLVED: To accurately calculate relative positions between a plurality of robots. SOLUTION: A flange surface 17a of a first robot 1 and a joint surface 7a on one end side of a joining tool 7 are joined with each other, and a flange surface 27a of a second robot 2 and a joint surface 7b on the other end side of the joining tool 7 are joined with each other. While joint parts are moved to measuring points, measuring data indicating the position and posture of each robot 1, 2 is obtained. The measuring data of each robot 1, 2 obtained at three or more measuring points which does not exist on the same straight line is calculated to calculate the relative position between the robots 1, 2. Following changing of the position and the posture of the first robot 1, the position and the posture of the second robot 2 can be changed through the joining tool 7. Therefore, a point instructed by the first robot 1 and a point instructed by the second robot 2 are exactly same as each other. COPYRIGHT: (C)2009,JPO&INPIT
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