CALIBRATION METHOD AND APPARATUS FOR ROBOT

摘要

PROBLEM TO BE SOLVED: To perform high-precision and automatic calibration of a robot. SOLUTION: A arm 12 is provided having not less than 6 degrees of freedom so as to move a tip portion 16 of the arm 12 into any predetermined position/ posture by applying a force to it. A position detector 14 is provided for each shaft of rotary joints of the arm 12. By using a 3D measuring device 10 capable of measuring the position/posture of the tip portion 16 from a signal of the position detector 14 for each shaft, the tip portion 16 for the 3D measuring device 10 is coupled to a finger 20 at a tip portion of a robot 18 to be calibrated so as to measured position/posture of the tip portion of the robot 18. The position/posture of the robot 18 is changed so as to measure a plurality of teaching points and thereby determine a mechanism parameter for the robot 18 and perform the calibration thereof.