Calibration system and the calibration method for calibrating the mechanical parameters of the hand joint part of a robot

摘要

It is a calibration system is provided, which is capable of mechanical parameters of a hand joint part to a simpler manner to calibrate. The calibration system uses a target, which at a predetermined position in relation to a joint, which is a hand of a robot is located at the next, is fastened, and an imaging device, which is arranged around the robot in the form of the parameters of a mechanical model, which represents the wrist portion of the robot to calibrate. The position of the target is of a predetermined starting position is changed, in order to generate a plurality of interim positions. Using this interim positions as starting points, the end point position of the robot, by means of which the target on the by recording an image of the target image obtained a predetermined positional relationship with respect to the imaging device is achieved, calculated. The calibration system uses the calculated end point position as a basis for the calibration of the mechanical parameters of the hand joint part.