Calibration Method

A calibration method for, in a robot including a robot arm, calculating a positional relation between a first control point set in an end effector attached to a distal end of the robot arm and a second control point set further on the robot arm side than the end effector, the calibration method comprising:

• a first step of imaging the robot using an imaging section and moving the robot arm to be in 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 section and the robot arm takes a first posture;
• a second step of imaging the robot and moving the robot arm to be in a second state in which the first feature point is located in the predetermined position in the captured image of the imaging section and the robot arm takes a second posture;
• a third step of calculating a first vector that passes a position of the second control point in the first state, a first reference position obtained from 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 rotating the robot arm centering on a reference axis that crosses an axis extending along a component of the first vector;
• a fifth step of moving the robot arm to be in a third state in which the first feature point is located in the predetermined position in the captured image of the imaging section and the robot arm takes a third posture;
• a sixth step of calculating a second vector that, in the third state, passes a second reference position obtained from a position of the second control point in the third state and a position of the first feature point in the third state;
• and
• a seventh step of calculating a coordinate of the first feature point in a robot coordinate system based on the first vector and the second vector.