| 摘要 |
PROBLEM TO BE SOLVED: To provide a working robot and a calibration method, easily and accurately adjusting the positional relationship between an arm and a three-dimensional scanner. SOLUTION: This working robot includes: an arm information obtaining means for obtaining the position information on the tool flat surface of a plate-like tool provided in a predetermined position and the position information on the origin of the tool on the tool flat surface using an arm; a scanner information obtaining means scanning the tool flat surface using the three-dimensional scanner to obtain the data of a dot group of the tool flat surface and obtaining the position information of the arm in scanning; a vector information obtaining means obtaining the vector information of a normal vector on the tool flat surface having a predetermined relationship to the origin of the tool from the data of a dot group; and a position adjusting means for adjusting the positional relationship between the arm and the three-dimensional scanner using the position information on the tool flat surface, the position information on the origin of the tool, the vector information on the normal vector and the position information on the arm in scanning. COPYRIGHT: (C)2006,JPO&NCIPI
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