Title:
CALIBRATION METHOD AND ROBOT SYSTEM
Document Type and Number:
Japanese Patent JP2023175167
Kind Code:
A
Abstract:
To provide a calibration method that can easily perform calibration of a robot coordinate system and a camera coordinate system, and to provide a robot system.SOLUTION: In the calibration method, a first state where a basic point on a predetermined plane is positioned at a center of an image photographed with a camera is set; a second state where the camera is rotated at a first rotation angle around a first virtual shaft which is orthogonal to the predetermined plane and passing through a control point of an arm is set; a third state where the basic point is positioned at the center of the image photographed with the camera is set; a fourth state, where a reference point which is a temporal position of the basic point is derived on the basis of information on the first and third states and the first rotation angle and the camera is rotated at a second rotation angle around a second virtual shaft which is orthogonal to the predetermined plane and passing through the reference point, is set; and a fifth state where the basic point is positioned at the center of the image photographed with the camera is set, where a position of the basic point is derived from information on the first and fifth states and the first and second rotation angles or information on the third and fifth states and the second rotation angle, and calibration of a robot coordinate system and a camera coordinate system is performed on the basis of the derived position of the basic point.SELECTED DRAWING: Figure 5
Inventors:
TSUKAMOTO KENTARO
MATSUURA KENJI
MATSUURA KENJI
Application Number:
JP2022087478A
Publication Date:
December 12, 2023
Filing Date:
May 30, 2022
Export Citation:
Assignee:
SEIKO EPSON CORP
International Classes:
B25J13/08
Attorney, Agent or Firm:
Satoshi Nakai
Hiroki Matsuoka
Masayuki Imamura
Hiroki Matsuoka
Masayuki Imamura