Calibrating method for robot visual coordinate system

PURPOSE: To increase calibration accuracy by making a calibration between a visual coordinate system and a robot coordinate system without separating a work with a coordinate system calibrating jig provided with a recognition pattern having the known feature quantity of the positional relation with a hold section and the hold section. CONSTITUTION: The holding section 21 of a coordinate system calibrating jig 20 is held by the end effector (hand) 14 of a robot. A pattern 22 on the jig 20 is recognized by a camera 7 fitted to the tip section of a robot arm 12. A calibration is made between a visual coordinate system and a robot coordinate system based on the data on the arm joint of the robot, the feature quantity such as the position of the recognition pattern 22 on the jig 20 on the visual coordinate system recognized by the camera 7 and generated by an image processor, and the known positional relation between the holding section 21 and the recognition pattern 22. COPYRIGHT: (C)1989,JPO