Parallelism determination method for articulated robot and tilt adjustment device for articulated robot

摘要

The parallelism determination method of the articulated robot is to determine the parallelism with respect to the reference plane of the articulated robot. In this parallelism determination method, a plate having a predetermined pattern is placed on a work table of an articulated robot, and the plate is imaged by a camera mounted on an arm of the articulated robot. And the space | interval of the pattern recognized in the picked-up image of a plate is measured in several places, and parallelism is determined based on contrast of each measured space | interval.