| 摘要 |
A robot system comprising a first robot (R 1 ) with a camera of a visual sensor mounted thereon and a second robot (R 2 ) having a feature portion, is disclosed. The robots (R 1 , R 2 ) are set in the first initial states (G 1 ), from which the first robot (R 1 ) or the second robot (R 2 ) is moved so that the image of the feature portion assumes a target position or size (G 2 ), thereby to store the present positions (P 1 , Q 1 ) (G 3 ). The same process is repeated N times (N>=3) while changing the positions of the initial states of the robots (G 4 ). Based on the positions P 1 , . . . , PN and Q 1 , . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Sigmab to Sigmab' is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.
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