The present invention provides a device for kinematic calibration of a
robot, comprising a supporting member fixed to the base of a robot; a
constraint link installed between the supporting member and an
end-effector of the robot connected to the base of the robot through a
plurality of movable links so as to constrain a distance between the base
and the end-effector of the robot; two joints installed at the constraint
link; a mean to detect angular rotation for measuring angular rotation of
the end-effector when the end-effector of the robot moves to a
predetermine posture; a mean to detect inclination of the constrain link
installed at the constraint link about two mutually perpendicular axes
for measuring inclination of the constraint link about X and Y axes; a
mean to detect variation of the length for measuring variation of length
of the constraint link.
