| 摘要 |
PURPOSE: To easily determine the relationship between a sensor coordinate system and a robot tip part. CONSTITUTION: A plate 50 of a calibration tool 5 is positioned on a traveling table 52. Reference points 53, 54, and 55 are touched up by a hand for touch-up, position data on a robot coordinate system Σr are acquired, and a coordinate conversion matrix [G] between a coordinate system Σr and a tool coordinate system Σs is obtained. Then, a robot is moved and a camera is positioned and a matrix [H] for indicating the position of coordinate system Σs viewed from a coordinate system Σf is obtained from a matrix indicating the face plate coordinate system Σf (tip part of the robot). Further, the camera is calibrated at this position. The image data of reference points 51a-51d are acquired at two positions of a plate 50 and positions on the images of the reference points 51a-51d are detected by an image processing device, and parameters regarding the camera are calculated and stored. |
