PURPOSE: To provide easy and accurate error detection by comparing an error evaluation reference value based on an error model with an error showing an actual machine to be calibrated while estimating an error of a kinematics parameter by observing variation in position of an end effector of a robot arm.
CONSTITUTION: In calibrating an articulated robot A, first, position of an end effector E is fixed at a point in a work space and allows it to perform attitude changing action at an articulated angle obtained in a condition without any error (step I) and change in position of the end effector E caused by an error contained in actual link arm C1-C3 structure of the robot A is measured (step II). A step III in which this measurement of variation is executed for mode numbers of change in attitude is repeated. Then, termination of the calibration is judged in a step IV and if the judgment is NO, the above operation is repeated until the variation of the end effector becomes certain value or less after a kinematics parameter is calibrated by certain amount.
UMENO HIKARI
MIZUKAWA MAKOTO
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