| 摘要 |
PROBLEM TO BE SOLVED: To provide a calibration method for a robot having two cameras. SOLUTION: First a measurement object is photographed at three or more measuring points set on an XY plane of robot coordinates, monitor coordinates of the measurement object concerning the virtual image formation plane are measured by processing the photographed image, and on the basis of the monitor coordinates of the measurement object and the measuring points, a conversion factor in a conversion formula for converting monitor coordinates to the robot coordinates is calculated. Subsequently, the measurement object is photographed at two or more measuring points set on the Z-axis of the robot coordinate, the monitor coordinate of the measurement object concerning the virtual image formation surface is measured by processing the photographed image, the robot coordinate of the measurement object is calculated by substituting the monitor coordinates of the measurement object for the conversion formula from which the conversion factor is calculated, and on the basis of the robot coordinates of the measurement object and the measuring point set on the Z-axis, the robot coordinates of two cameras are calculated. COPYRIGHT: (C)2005,JPO&NCIPI
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