METHOD AND DEVICE FOR CALIBRATING VISUAL COORDINATES OF ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a method and a device for calibrating the visual coordinates of a robot for improving the measuring accuracy of a measurement point and for improving the calibration accuracy when transforming between the visual coordinates and the robot coordinates. SOLUTION: This method of calibrating the visual coordinates of a robot is provided with a step for measuring the visual coordinates of single predetermined measurement point set on a held article 5 on the basis of a picked up image, a step for measuring the visual coordinates of the measurement point at several rotation angles by rotating the held article 5 around the existing point K of the robot coordinates at two or more different rotation angle, and a step for computing the visual coordinates of a rotation fixed point in the picked up image by using transformation between the visual coordinates of the measurement point before the rotation and the several visual coordinates at several rotation angles after the rotation to calibrate the robot coordinates and the visual coordinates so that the existing point of the robot coordinates and the visual coordinates of the rotation fixed point coincide with each other.