| 摘要 |
PCT No. PCT/SE92/00804 Sec. 371 Date May 9, 1994 Sec. 102(e) Date May 9, 1994 PCT Filed Nov. 24, 1992 PCT Pub. No. WO93/11915 PCT Pub. Date Jun. 24, 1993.In a calibration method for an industrial robot (2-6), a calibration tool (8) supported by the robot hand (6) is brought into contact with pairwise opposite side surfaces of a calibration body (7) with a known edge length. Thereafter, the output signals from the position transducers of the robot axes are read and stored. This method is repeated a plurality of times with different robot configurations. Thereafter, the calibration parameters of the robot are calculated starting from the kinematic equations of the robot, a model of the relationship between axial position and position transducer signal, the known edge lengths of the calibration body, and the read and stored position transducer signals. (FIG. |
