KINEMATIC CALIBRATION DEVICE OF ROBOT AND ITS METHOD

摘要

PROBLEM TO BE SOLVED: To provide a kinematic calibration device of a robot and a method for determining a correction quantity, by minimizing an error between a value measured by the calibration device and a value calculated by a kinenmatic model, by moving the robot to various poses in a state of partially limiting degree of freedom.;SOLUTION: This kinematic calibration device of the robot has a support member fixed to a base of the robot, a restricting link arranged between an end effector and the support member of the robot connected to the base of the robot via a plurality of movable links and restricting a distance between the base of the robot and the end effector, two joints arranged in the restricting link, an inclination detecting means arranged in a turning angle detecting means for measuring a turning angle of the end effector and the restricting link and measuring an inclination of the restricting link with the X- and Y-axes as the center, when the end effector of the robot moves to a predetermined pose, and a length detecting means for measuring a change in the length of the restricting link.;COPYRIGHT: (C)2005,JPO&NCIPI