| 摘要 |
An apparatus for calibration of an industrial robot, the apparatus comprising a body ( 7 ) having a first angle-measuring member ( 10 ) arranged for measuring an angle relative to the vertical ine about a first measuring axis ( 12 ) and mouting means ( 8, 9, 25 ) for mounting the body to the robot during the calibration. The apparatus comprises a second angle-measuring member ( 11 ) arranged for measuring an angle relative to the vertical line about a second measuring axis ( 13 ) differing from the first measuring axis. A method for calibration of an industrial robot having a plurality of sections movably connected to each for rotation about a plurality of axes, using an apparatus according to claim 1 or 2, the method comprising: attaching the body ( 7 ) to a section of the robot, reading an angle measurement from the first angle-measuring member ( 10 ), moving the robot about a first axis in dependence of said angle measurement for the first angle-measuring member ( 10 ), reading an angle measurement fro the second angle-measuring member ( 11 ), and moving the robot about a second axis in dependence of said angle measurement from the second angle-measuring member ( 11 ).
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