Calibration Method
AssigneeSeiko Epson Corporation
InventorsKentaro TSUKAMOTO, Kenji MATSUURA
Life of this patent
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Abstract
A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set on the distal end of the robot arm, includes a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in a third state and a position of the second control point in a fourth state and a first feature point in the fourth state, and a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on a first position relationship and the second position relationship.
Claims5
A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set closer to the robot arm side than the end effector, comprising:
- a first step of imaging the robot using an imaging unit and moving the robot arm to cause a first state in which a first feature point of the robot associated with the first control point is located in a predetermined position in a captured image of the imaging unit and the robot arm takes a first posture;
- a second step of imaging the robot and moving the robot arm to cause a second state in which the first feature point is located in the predetermined position in the captured image of the imaging unit and the robot arm takes a second posture;
- a third step of calculating a first position relationship between a first reference position obtained from a position of the second control point in the first state and a position of the second control point in the second state and a position of the first feature point in the second state;
- a fourth step of imaging the robot using the imaging unit and moving the robot arm to cause a third state in which the first feature point is located in the predetermined position in the captured image of the imaging unit and the robot arm takes a third posture;
- a fifth step of imaging the robot and moving the robot arm to cause a fourth state in which the first feature point is located in the predetermined position in the captured image of the imaging unit and the robot arm takes a fourth posture;
- a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in the third state and a position of the second control point in the fourth state and the first feature point in the fourth state;
- and
- a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on the first position relationship and the second position relationship.
Dependencies are inferred from the claim text.