WORKING REFERENCE OBJECT, WORKING REFERENCE OBJECT MANUFACTURING METHOD, ROBOT ARM ADJUSTING METHOD, VISION SYSTEM, ROBOT APPARATUS, AND INDICATOR MEMBER

摘要

PROBLEM TO BE SOLVED: To provide working reference objects capable of using positional deviation information of indicators even when a robot apparatus cannot acquire, from a server, indicator positional deviation information measured for each working reference object.SOLUTION: A tray 7 includes: a marker 11 which is optically detected to allow adjustment of a coordinate system used for control of a robot arm 2; and an error information pattern 12 which is optically detected to allow obtaining of positional deviation information of the marker 11 relative to the tray 7. An error information measurement process measures positional deviation information of an indicator in the tray 7. An error information recording process converts the indicator positional deviation information measured by the error information measurement process into the error information pattern 12, an example of optically readable information image, and then records the pattern in the tray 7. A robot apparatus 1a adjusts the coordinate system used for control of the robot arm 2, based on positional information and positional deviation information of the marker 11 obtained by imaging the marker 11 and the error information pattern 12 with a fixed camera 5.SELECTED DRAWING: Figure 1