| 摘要 |
The calibration method comprises the following steps: (A) placing the tool inside a calibration ring (3`, 3``) with an inner periphery (6`, 6``) forming a circle with a midpoint (3`, 3``) having a predetermined position in relation to an original point in a space coordinate system; (B) moving the tool in the plane of the ring so that it comes into contact with at least three points on the inner periphery of the ring and recording the tool reference point position corresponding to each of the points on the inner periphery in the control unit; and (C) determining the distance between the recorded position of the control unit and the original point on the basis of these positions. An independent claim is also included for a second calibration method comprising calibrating the tool in relation to a first original point in a spatial coordinate system and storing the difference between the actual position of the tool reference position and the tool reference position recorded in the control unit as a first displacement vector; using the robot arm to move the tool to a second original point in the spatial coordinate system; calibrating the tool in relation to the second original point and storing the difference between the actual position of the tool reference position and the tool reference position recorded in the control unit as a second displacement vector; and comparing the two displacement vectors. A robot arm error is indicated when these two vectors are different from each other. |
