Method for calibrating parallel kinematic mechanism, method for verifying calibration, program product for verifying calibration, method for taking data, and method for taking correction data for spatial posturing correction

摘要

A calibration method is provided for calibrating a parallel kinematic mechanism that has an end effecter. The method includes setting an adjustment tool attached to the end effecter in predetermined postures in a reference coordinate system by taking coordinates of the posture of the adjustment tool each time the adjustment tool is placed in the posture and recording coordinates of driver shafts manipulated by a numerical control device in accordance with the inverse kinematics each time the adjustment tool is placed in the posture. The method continues by calculating kinematic parameters necessary for the kinematics of the parallel kinematic mechanism based on the taken coordinates of the postures of the driver shafts and the recorded coordinates of the driver shafts. Accordingly, it is possible to obtain accurate posture information of the end effecter and relative coordinates of the driver shafts.