| 摘要 |
PURPOSE:To measure coordinate-system calibrating parameters with high accuracy in spite of the narrow field of view by measuring a scale ratio and an angle of inclination of a camera coordinate system in the first measuring process, and measuring an offset value of the origin of the camera coordinate system relative to a robot coordinate system in the second measuring process. CONSTITUTION:Coordinate calibrating parameters indicating the relative relation between a robot coordinate system which presents the position in a space of robot arms 2, 3 and a camera coordinate system which represents the position of a camera 5 provided integrally with the robot arms on an image, are obtained to calibrate the coordinate system of a visual sensing robot. In this case, in the first measuring process, the camera 5 is first moved and a marker positioned within the field of view of the camera 5 is photographed, and the camera coordinate and the robot coordinate of the marker before and after the movement of the camera are detected, and a scale ratio and an angle of inclination of the camera coordinate system are calculated. In the second measuring process, an offset value of the origin of the camera coordinate system relative to the robot coordinate system is obtained. |
