| CPC B25J 9/1692 (2013.01) [B25J 9/02 (2013.01); B25J 9/1664 (2013.01); B25J 19/023 (2013.01)] | 9 Claims |
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1. A method for performing calibration between a robot coordinate system that is a coordinate system of a robot including an arm and a camera coordinate system that is a coordinate system of a camera attached to the arm, the method comprising:
moving the robot to achieve a first state in which a criterion point located at a predetermined surface is located at a predetermined position in an image captured with the camera;
moving the robot to achieve a second state in which the camera is rotated by a first angle of rotation around a first imaginary axis perpendicular to the predetermined surface and passing through a control point set at the arm;
moving the robot to achieve a third state in which the criterion point is located at the predetermined position in the image captured with the camera;
deriving a reference point that is a provisional position of the criterion point based on information on the first state, information on the third state, and the first angle of rotation;
moving the robot to achieve a fourth state in which the camera is rotated by a second angle of rotation around a second imaginary axis perpendicular to the predetermined surface and passing through the reference point;
moving the robot to achieve a fifth state in which the criterion point is located at the predetermined position in the image captured with the camera;
deriving a position of the criterion point from the information on the first state, information on the fifth state, the first angle of rotation, and the second angle of rotation, or the information on the third state, the information on the fifth state, and the second angle of rotation; and
performing the calibration between the robot coordinate system and the camera coordinate system based on the derived position of the criterion point.
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