Importance

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Abstract

A method for performing calibration between a robot coordinate system and a camera coordinate system includes achieving a first state in which a criterion point at a predetermined surface is located at the center of an image captured with a camera, achieving 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 at the arm, achieving a third state in which the criterion point is located at the center of 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 and third states and the first angle of rotation, achieving 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, achieving a fifth state in which the criterion point is located at the center of the image captured with the camera, deriving the position of the criterion point from the information on the first and fifth states and the first and second angles of rotation, or the information on the third and fifth states 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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First Claim