CPC B25J 9/1692 (2013.01) [B25J 9/1653 (2013.01)] | 8 Claims |
1. A correction device comprising:
a measurement point generation unit configured to generate a plurality of candidate points corresponding to posture of a robot within a movable range of the robot based on robot mechanism model information representing a mechanism of the robot and end effector information concerning an end effector installed in the robot, and determine, among the generated plurality of candidate points, a candidate point at which joint torque τ of each joint of the robot in the posture corresponding to each candidate point is equal to or more than a predetermined threshold as a measurement point; and
a control unit configured to calculate a position error between a calculated position and a measured position of the end effector in the posture corresponding to the measurement point and identify mechanism error parameters so that the calculated position error is minimized.
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