A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set on the distal end of the robot arm, includes a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in a third state and a position of the second control point in a fourth state and a first feature point in the fourth state, and a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on a first position relationship and the second position relationship.

A calibration method for, in a robot including a robot arm, calculating a positional relation between a first control point set in an end effector attached to the distal end of the robot arm and a second control point set further on the robot arm side than the end effector, the calibration method calculating a coordinate in a robot coordinate system of a first feature point of the robot associated with the first control point based on a first vector and a second vector calculated using an imaging section while moving the robot arm.

Firstly, a robotic arm drives a projection point of tool projected on test plane to perform relative movement relative to a reference point of a test plane. Then, conversion relationship is established according to the relative movement. Then, a tool axis vector relative to an installation surface reference coordinate system of the robotic arm is obtained. Then, calibration point information group obtaining step is performed, wherein the calibration point information group obtaining step includes: (a1) the robotic arm drives a tool center point to coincide with a reference point of the test plane and records calibration point information group; (a2) the robotic arm drives the tool to change angle of the tool; and (a3) steps (a1) and (a2) are repeated to obtain several calibration point information groups. Then, tool center point coordinate relative to the installation surface reference coordinate system is obtained according to the calibration point information groups.

A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set on the distal end of the robot arm, includes a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in a third state and a position of the second control point in a fourth state and a first feature point in the fourth state, and a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on a first position relationship and the second position relationship.

An automatic calibration method of a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to the connection rod, fixing the connection rod to an end execution tool mounted on a flange of a robot, providing distance sensors around a target point, and sensing an actual distance from each of the distance sensors to the sphere. The robot is controlled to move a center of the sphere to the target point in different poses based on the actual distances sensed by the distance sensors. A first transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the target point. A second transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated based on the first transformation matrix.

A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.

An automatic calibration method of a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to the connection rod, fixing the connection rod to an end execution tool mounted on a flange of a robot, providing distance sensors around a target point, and sensing an actual distance from each of the distance sensors to the sphere. The robot is controlled to move a center of the sphere to the target point in different poses based on the actual distances sensed by the distance sensors. A first transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the target point. A second transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated based on the first transformation matrix.

An automatic calibration method for a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to a first end of the connection rod, fixing an opposite second end of the connection rod to an end execution tool mounted on a flange of a robot, and controlling the robot to move a center of the sphere to a same target point in a plurality of different poses under the guidance of a vision sensor. A transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the same target point. A transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated according to a formula.

A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.

A robot includes an arm. The robot moves the arm on the basis of a detected position, which is a position of a target object detected by a detecting section, and a stored position, which is a position of the target object stored by a storing section.