適用於移動式多軸精密定位裝置之定位方法及其系統

A calibration method and a system applying in a movable positioning apparatus with multi-axes are disclosed. The apparatus includes a base portion and an arm portion. The base portion provides a move function and a fixing function for the movable arm. The arm portion could change position based on inputted coordinates. The positioning method includes steps as follows:Firstly, the movable robot arm is moved to a predetermined position and is then fixed. A plurality of markers is arranged on an end effector of the arm. Test coordinates are inputted to change the position of the arm portion. A calibrated spatial positioning apparatus is employed to calculate spatial positions of the markers located in a second coordinate system. Lastly, a spatial transformation data between the first coordinate system and the second coordinate system is calculated based on the inputted coordinate and the spatial positions of the markers located in the second coordinate system.