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ROBOT CALIBRATION DEVICE AND ROBOT CALIBRATION METHOD, AND ROBOT DEVICE AND ROBOT DEVICE CONTROL METHOD
ROBOT CALIBRATION DEVICE AND ROBOT CALIBRATION METHOD, AND ROBOT DEVICE AND ROBOT DEVICE CONTROL METHOD
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机译：机器人标定装置和机器人标定方法，以及机器人标本和机器人装置的控制方法
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摘要
PROBLEM TO BE SOLVED: To provide a robot calibration device and a robot calibration method, and a robot device and a robot device control method in which accuracy in controlling the position posture of a robot body can be improved by calculating the position posture of the robot body including operation error etc.SOLUTION: In a robot calibration device for calibrating a command value of a robot body 2 which has a multi-joint arm 20 and the position posture of which is controlled based on the command value, included is a calculation part which calculates a calibration function for calibrating the command value on the basis of the difference between the ideal position posture of the robot body 2 calculated based on a control result value which is a result of controlling based on a command valueHfor calibration used upon calibration or the command value and the actual position posture of the robot body 2 calculated based on the measurement valueHfor calibration obtained by a camera 3 which is arranged under a specified position posture relationship against the robot body 2 when the robot body 2 is controlled based on the command value for calibration.
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