Patent ID: 7853359
Filing Date: 2010-12-14
Classification: B25J,G01B,G05B

Abstract:
1. A device for calibrating a mechanical parameter of a multi-jointed robot mechanism, comprising: a measurement device which measures the positional relationship between a first coordinate system fixed to a part of a robot and a second coordinate system fixed outside of the robot; an aligning part which adjusts a position and a posture angle of the robot so that the positional relationship between the first and second coordinate systems satisfies a condition which is predetermined due to the measurement device, wherein the calibration includes previously generating a plurality of robot positions as preliminary positions where the calibration is carried out, adjusting the position and the posture angle of the robot, by the aligning part, by using each of the generated preliminary position as a start position, so as to obtain a new robot position, and calculating the mechanical parameter based on the new robot position; an initial position storing part which stores a position of the robot as an initial position, where the positional relationship between the first and second coordinate systems can be measured by the measurement device, in order to generate the preliminary positions; a preliminary position generating part which automatically generates the plurality of preliminary positions based on a basic position and a parameter relating to the generation of the preliminary positions, the basic position being determined as a robot position which is obtained by adjusting the position and the posture angle of the robot, by the aligning part, by using the initial position stored in the initial position storing part; a judging part which judges, before the position and the posture angle of the robot are adjusted, whether each of the preliminary positions generated by the preliminary position generating part is included in an operation range of the robot; and a position correcting part which corrects the parameter relating to the generation of the preliminary positions, so that the preliminary position, which is judged not to be included in the operation range of the robot, is included in the operation range of the robot.