Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus

A robot calibrating method of calibrating a command value for a robot body which includes a multi-jointed arm and whose position-and-orientation is controlled based on the command value or on a control result value which is a result of control according to the command value, the method including:

• causing an operating unit to calculate a calibrating function (F) for calibrating the command value based on a difference between an ideal position-and-orientation of the robot body and an actual position-and-orientation of the robot body, wherein the ideal position-and-orientation is operated based on the command value for calibration used during calibration or on the control result value which is a result of control based on the command value, and wherein the actual position-and-orientation is operated based on a measurement value (VHPmeas) acquired by a visual sensor arranged at a prescribed relative position-and-orientation with respect to the robot body during the robot body being controlled based on the command value for calibration;
• acquiring a measurement value (VHWmeas) through measurement of a position-and-orientation of an object by the visual sensor;
• generating a temporary command value (RHTtemp) for the robot body, based on the measurement value (VHWmeas);
• and
• calibrating the temporary command value (RHTtemp) using the calibrating function (F) to generate a post-calibration command value (RHTcomp).

A non-transitory computer-readable recording medium storing a robot calibrating program for causing a computer to calibrate a command value for a robot body which includes a multi-jointed arm and whose position-and-orientation is controlled based on the command value or on a control result value which is a result of control according to the command value, the program comprising:

• code for causing an operating unit to calculate a calibrating function (F) for calibrating the command value based on a difference between an ideal position-and-orientation of the robot body and an actual position-and-orientation of the robot body, wherein the ideal position-and-orientation is operated based on a command value for calibration used during calibration, and the actual position-and-orientation is operated based on a measurement value (VHPmeas) acquired by a visual sensor arranged at a prescribed relative position-and-orientation with respect to the robot body during the robot body being controlled based on the command value for calibration;
• code for acquiring a measurement value (VHWmeas) through measurement of a position-and-orientation of an object by the visual sensor;
• code for generating a temporary command value (RHTtemp) for the robot body, based on the measurement value (VHWmeas);and
• code for calibrating the temporary command value (RHTtemp) using the calibrating function (F) to generate a post-calibration command value (RHTcomp).

A non-transitory computer-readable recording medium storing a program for causing a computer to control a robot apparatus including a robot body with a multi-jointed arm, a visual sensor positioned at a prescribed relative position-and-orientation with respect to the robot body, and a controlling unit configured to operate a command value and control the position-and-orientation of the robot body, the program comprising:

• code for causing an operating unit to calculate a calibrating function (F) for calibrating the command value based on a difference between an ideal position-and-orientation of the robot body and an actual position-and-orientation of the robot body, wherein the ideal position-and-orientation is operated based on a command value for calibration used during calibration, and the actual position-and-orientation is operated based on a measurement value (VHPmeas) acquired by a visual sensor arranged at a prescribed relative position-and-orientation with respect to the robot body during the robot body being controlled based on the command value for calibration;
• code for acquiring a measurement value (VHWmeas) through measurement of a position-and-orientation of an object by the visual sensor;
• code for generating a temporary command value (RHTtemp)for the robot body, based on the measurement value (VHWmeas);
• and
• code for calibrating the temporary command value (RHTtemp) using the calibrating function (F) to generate a post-calibration command value (RHTcomp);
• and
• code for controlling the position-and-orientation of the robot body according to the post-calibration command value (RHTcomp).

A controlling apparatus comprising:

• an operating unit;
• wherein the operating unit executes the steps of:
• obtaining calibration data based on a command value supplied to a multi-jointed arm and a position-and-orientation of a reference object for calibration acquired by a sensor having a prescribed positional relationship with the multi jointed arm;
• obtaining measurement data of a position-and-orientation of an object by the sensor;
• generating a temporary command value that differs from the command value, based on the measurement data;
• and
• calibrating the temporary command value by the calibration data to obtain a post-calibration command value.

A robot calibrating method comprising the steps of:

• obtaining calibration data based on a command value supplied to a multi-jointed arm and a position-and-orientation of a reference object for calibration acquired by a sensor having a prescribed positional relationship with the multi jointed arm;
• obtaining measurement data of a position-and-orientation of an object by the sensor;
• generating a temporary command value that differs from the command value, based on the measurement data;
• and
• calibrating the temporary command value by the calibration data to obtain a post-calibration command value.