| 摘要 |
PURPOSE:To provide a calibration method for a manipulator wherein a high- precise result is produced through a simple method despite of the distortion aberration of an optical system. CONSTITUTION:The photographic visual field of a CCD camera 1 is divided into a plurality of regions, a camera parameter by means of which a camera coordinate system is coordinate-converted to a manipulator system at each region is calculated by a computing processing circuit 4, and the camera parameter is stored in a memory 5. When the manipulator is actually controlled, the camera parameter per each region stored in the memory 5 is read out and calibration of the camera coordinate is carried out per each region. |
