METHOD FOR ROBOT-ASSISTED MEASUREMENT OF MEASURABLE OBJECTS
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Abstract
The invention relates to a method for carrying out a robot-assisted measurement of measurable objects. The paths of a sensor (S) are defined and transmitted to a robot co-ordinate system. The actual paths of the sensor (S) guided on the robot are recorded. A plurality of measurable objects (200) is measured, the sensor (S) being guided with the robot along said actual paths. A compensating device makes it possible to compensate internal and/or external influences produced on the robot (R). The compensation stage is carried out after a determined number of measurements.
8 Citations
23 Claims
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1-9. -9. (canceled)
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10. A method of measuring objects using a robot, the method comprising:
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(a) initializing the robot by; (1) defining paths of a sensor in a first coordinate system for measuring an object, (2) translating the defined paths into a second coordinate system, (3) determining actual paths of the sensor in the first coordinate system using an external calibrating device, (4) recording a table of the actual paths of the sensor in the first and second coordinate systems, and (5) removing the external calibrating device; and (b) measuring an object by; (1) measuring at least one object by moving the sensor along the actual sensor path using the robot, (2) periodically measuring a reference body by moving the sensor using the robot to determine a point cloud, (3) comparing the measured point cloud with a previously measured point cloud, and (4) adjusting a robot control to compensate for changes in the kinematics of the robot based on the comparison of the point clouds. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification