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.

Provided is a robot system with which it is possible to easily set an error parameter. The robot system according to an embodiment of the present disclosure comprises a robot, a measurement device attached to an end of the robot, a target mark fixed to a work space for the robot, and a robot control device for controlling the robot. The robot control device has: a parameter storage unit for storing a plurality of error parameters used to calculate the position of a reference point for the end of the robot; a command value generation unit for generating a command value indicating a required position or speed of a drive shaft of the robot, upon taking an error parameter into account; a position information acquisition unit for acquiring position information for the reference point on the basis of the relative position of the target mark measured by the measurement device relative to the measurement device and coordinate information for the target mark in a user coordinate system; and a parameter correction unit for correcting an error parameter on the basis of the command value and the position information.

Methods and robot, where payload information of a payload attached to a robot tool flange of a robot arm are obtained by arranging the robot tool flange in a plurality of different orientations in relation to gravity; obtaining the force and the torque provided to the robot tool flange by gravity acting on the payload using a force torque sensor arranged at the robot tool flange; obtaining the mass of the payload based on the obtained forces obtained at at least two of the different orientations. The dependent claims describe possible embodiments of the robot and methods according to the present invention.

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.

To reduce the working hours of a user in an operation and improve an operation rate in an industrial network system. A communication setting change part is provided which automatically changes, in a timing of an end effector replacement, the communication setting in a communication part according to the communication information that corresponds to an end effector.

The invention disclosed an error modeling method for six degree-of-freedom robot end effector space-curve trajectory. More specifically, the invention is focused on end effector continuous space-curve trajectory tasks, and provides an error model taking into account of the influence of interpolation algorithm and joint linkage parameter error. This method selects key trajectory points on the ideal trajectory and by inverse solution converts them to the joint space, and performs interpolation; meanwhile the linkage parameter error taken into account to obtain the actual end effector position. The distance from the planned trajectory point to the ideal trajectory curve is used as the comprehensive error to reflect the deviation from the planned trajectory to the ideal trajectory. A simple and practical error model is obtained, which provides a theoretical basis for controlling the end effector-tracking accuracy.

To reduce the working hours of a user in an operation and improve an operation rate in an industrial network system. A communication setting change part is provided which automatically changes, in a timing of an end effector replacement, the communication setting in a communication part according to the communication information that corresponds to an end effector.