Method and apparatus for estimating system error of commissioning tool of industrial robot

An apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot comprising an operational tool and an application camera, the commissioning tool comprising a touchscreen and a stylus, the apparatus comprises:

• a driving module arranged to drive the operational tool to rotate around a preset rotation axis, wherein, the preset rotation axis is a long axis of the stylus or is parallel to the long axis of the stylus;
• a first image obtaining module arranged to obtain a plurality of first images of the operational tool during rotation;
• and
• a first offset calculating module arranged to calculate a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error.