CALIBRATION METHOD OF ROBOT SYSTEM WITH VISUAL SENSOR

摘要

PURPOSE:To make the hand-eye operation possible in a wide range by using another camera and a work for calibration though a camera is not capable of calibration because of an obstacle or the like. CONSTITUTION:When a work 5 is handled with a robot 6 in the calibration method in a robot system with visual sensor, cameras 1 and 2 and their picture processing devices are used to obtain coordinates of centers of holes 41 and 43 in both ends of the work 5, and a gripping point of the robot 6 is obtained in accordance with these two coordinates to handle the work 5. With respect to a camera 3, a work 4 for calibration is so moved that holes 41 and 42 are within the visual field of the camera 2 and the hole 43 is within the visual field of the camera 3, and calibration is performed with the camera 2.