CALIBRATION DEVICE OF A ROBOT AND A METHOD THEREOF FOR IMPROVING POSITION ACCURACY BY COMPENSATING FOR A ROBOT POSITION CONTROL ERROR BY UTILIZING REAL VALUES OF KINEMATICAL AND DYNAMIC VARIABLES

摘要

PURPOSE: A calibration device of a robot and a method thereof are provided to decide the compensation degree by driving the robot in several poses in a state of restricting some freedom and by minimizing an error between poses calculated by data measured. CONSTITUTION: A calibration device of a robot comprises a support member(11) fixed to a base of the robot; a constraint link(12) installed between the support member and an end-effector(105) of the robot connected to the base of the robot through plural motion links, to constrain the distance between the end-effector and the base of the robot; at least two joints(14) installed to the constraint link; a rotation angle detection unit measuring the rotation angle of the end-effector when the end-effector of the robot moves in a predetermined pose; and a slant detection unit(30) installed to the constraint link, to detect rotation in a coordinate system of the end-effector and the base of the robot.