Calibration method and the jig of the robot tool coordinate system

摘要

PROBLEM TO BE SOLVED: To accurate calibrate a tool coordinate system of a robot without approaching the robot even by a worker having no expert knowledge or an unskilled worker.;SOLUTION: An attachment 21 having a portion positioned on a tool center point TCP of an end effector 17 is chucked to the end effector 17 attached to a flange part 9 of the robot 1. The tip of a wire 19a delivered from a delivering port 19c of an extendable displacement sensor 19 fixed to an installation face A of the robot 1 is connected to a connection point T of the attachment 21. Equations indicating positional vectors of a measurement home position M set in the delivering port 19c of the extendable displacement sensor 19 with respect to a robot home position O set on a base 3 of the robot 1 are acquired for an amount of attitudes of N pieces of patterns of the robot 1. Calibration of the tool coordinate system is carried out by solving the simultaneous equations. The number of N pieces of patterns is determined in response to the number of variables in the simultaneous equations.;COPYRIGHT: (C)2010,JPO&INPIT