| 摘要 |
PURPOSE:To calibrate the coordinate system of a new visual robot capable of measuring parameters for coordinate calibration with high accuracy even if the visual field is narrow by calculating the parameters through 1st - 3rd measuring processes. CONSTITUTION:The visual robot 20 is equipped with a base 1, an X-axial arm 2, a YZ-axial arm 3, a rotary shaft 4, a camera 5 for two-dimensional recognition, etc., and an image processor and a robot controller are connected to the robot 20. The displacement measuring instrument 21 measures where the tips of the robot arms are positioned and consists of a block 22 for measurement, a measurement base 23, a recognition pattern 24, a laser displacement gauge 25, etc. Then when the robot is operated according to information from the camera 5, the parameters for coordinate calibration indicating the relative relation between a robot coordinate system and a camera coordinate system need to be measured, specific measurement data are obtained through the 1st - 3rd measuring processes, and the parameters for coordinate system calibration are calculated in an arithmetic process by using those measurement data. |
