Patent ID: 8457790

Claim:
A method of obtaining calibration data for a robot system having an articulated arm, the method comprising the steps of: providing a calibration template having a plurality of calibration spots formed in the calibration template at predetermined fixed positions therein, the calibration spots comprising divots in the calibration template, the calibration spots having a known geometry defining a first point cloud as determined by an external measurement device; commanding said articulated arm of said robot system to position a calibration feature coupled to the articulated arm at a plurality of commanded points corresponding to said calibration spots of the calibration template, the calibration feature having a shape which corresponds to and is received within said divots of the calibration template; for each of said commanded points, determining with the robot system a measurement point corresponding to said position of said calibration feature, said plurality of measurement points collectively being a second point cloud; and adjusting one or more parameters of said robot system based on a comparison of said first point cloud and said second point cloud.