公开(公告)号：EP1016506A4

公开(公告)日：2007-05-02

申请号：EP98900411

申请日：1998-01-16

申请人： YASKAWA DENKI SEISAKUSHO KK

发明人： WATANABE SHINSUKE ,  INOUE YASUYUKI ,  MORITA HIROTAKA ,  NAGATA HIDEO ,  TANAKA YOUICHI

IPC分类号： B25J9/16 ,  B25J9/22 ,  B25J13/00 ,  B25J9/10

CPC分类号： B25J9/1692 ,  G05B2219/39007 ,  G05B2219/39019

摘要： A calibrating device (2) is constituted of a mobile section having degrees of moving freedom in three orthogonal axial directions, displacement detecting means (212, 222 and 232) which respectively detect the displacement of the mobile section at every degree of freedom, a universal joint (25) which is attached to the front end of the mobile section and has a degree of rotational freedom around the three axes, and a jig (26) which is attached to the free end of the joint (25) and can be easily coupled with the front end section (16) of the wrist of a robot. The calibrating device (2) is used for measuring the displacement of the front end section (16) of the wrist of the robot. The present invention, therefore, provides a relatively simple calibrating device and a calibration method using the calibrating device which can be easily automated and which does not involve any complicated operation.