DELTA ROBOT CALIBRATION METHOD AND DELTA ROBOT CALIBRATION APPARATUS

摘要

A delta robot calibration method according to one embodiment of the present invention is a calibration method for a delta robot comprising a base, a speed-reduced motor installed on the base, an active arm connected to the speed-reduced motor, and a passive arm connected to the active arm. The delta robot calibration method comprises the steps of: coupling a calibrator to the base, the calibrator comprising a calibrating bar having a predetermined length and a calibrating effector coupled to the lower end of the calibrating bar; connecting the passive arm to the calibrating effector; picking up images of the lower and lateral sides of the calibrating effector; calibrating, on the basis of the picked-up images of the calibrating effector, at least one of the calibrator, the speed-reduced motor, the active arm and the passive arm; and removing the calibrator and assembling an end effector to the passive arm.