POSITIONING ACCURACY MEASUREMENT METHOD OF ROBOT SYSTEM

To provide a measurement method which can measure the positioning accuracy of a robot tip portion without using a special measurement device.SOLUTION: An identification figure 111 is arranged on one of a movable body 105 of a machine tool and a robot tip portion and a camera is arranged on the other of the movable body 105 and the robot tip portion. The movable body 105 and the robot tip portion are positioned at the first position, the identification figure 111 is imaged by the camera, and a relative position between the camera at the first position and the identification figure 111 is calculated on the basis of the image. Then, at least one of the robot and an unmanned carrier is operated, the robot tip portion is positioned at the predetermined second position, the movable body 105 is moved by the same distance in the same direction, and the identification figure 111 is imaged. Then, the relative position between the camera at the second position and the identification figure 111 is calculated on the basis of the obtained image, and the positioning accuracy of the robot tip portion is calculated on the basis of the relative position between the camera at the first position and the second position and the identification figure.SELECTED DRAWING: Figure 3 【課題】ロボット先端部の位置決め精度を、特別な測定装置を用いることなく測定できる測定方法を提供する。【解決手段】識別図形１１１を工作機械の移動体１０５又はロボット先端部の一方に配設し、カメラを移動体１０５又はロボット先端部の他方に配設する。移動体１０５とロボットの先端部とを第１位置に位置決めして、カメラにより識別図形１１１を撮像し、その画像に基づいて第１位置におけるカメラと識別図形１１１との相対位置を算出する。次に、ロボット又は無人搬送車の少なくとも一方を動作させて、ロボット先端部を予め定めた第２位置に位置決めするとともに、移動体１０５を同方向に同じ距離だけ移動させて、識別図形１１１を撮像する。次に、得られた画像に基づき、第２位置でのカメラと識別図形１１１との相対位置を算出し、第１位置及び第２位置におけるカメラと識別図形との相対位置に基づいて、ロボット先端部の位置決め精度を算出する。【選択図】図３