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Method for robot-assisted measurement of measurable objects

  • US 9,833,904 B2
  • Filed: 11/24/2015
  • Issued: 12/05/2017
  • Est. Priority Date: 05/17/2004
  • Status: Active Grant
First Claim
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1. A method of measuring objects using a robot, the method comprising:

  • (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 at least one object by;

    (1) measuring the at least one object by moving the sensor along the actual sensor path using the robot,(2) periodically measuring a reference body with the external calibration device removed 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.

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