Calibration apparatus and calibration method

A calibration apparatus of a robot that includes an arm, a joint attached to the arm, a motor provided to the joint, and a gear speed reducer provided between the motor and the joint, the robot extending in a width direction, a length direction, and a height direction, the calibration apparatus comprising:

• a setting circuitry that sets a destination position of an end of the arm in a predetermined three-dimensional robot workspace which extends in parallel with a plane defined by the width direction and the length direction;
• an acquiring circuitry that acquires an angle of the joint when the end of the arm is moved to the destination position;
• an adjusting circuitry that adjusts the angle acquired by the acquiring circuitry in accordance with a rotational angle transmission error in gears of the gear speed reducer;
• and
• a correcting circuitry that corrects a Denavit-Hartenberg (DH) parameter of the robot by using the angle adjusted by the adjusting circuitry;
• wherein
• the setting circuitry is configured to set multiple planes in the robot workspace which are parallel to a plane defined by the length direction and the height direction, the destination position being included within one of the multiple planes;
• the adjusting circuitry is configured to adjust the angle in accordance with the rotational angle transmission error when a rotational angle of the motor is determined to be a predetermined angle;
• and
• the predetermined angle is a multiple of 180 degrees.