Arrangement and method for the model-based calibration of a robot in a working space

A system for model-based calibration of a mechanism having a base and at least one segment, said at least one segment being movably connected to the base via at least one joint, said system comprising at least a device and a computing unit, said device comprising at least a first functional operation group and a second functional operation group, wherein the first and second functional operation group each comprise

• at least one laser emitter, said laser emitter emitting an individual laser beam or a bundle of individual laser beams or any general radiation pattern, and each further comprise
• at least one sensor, said sensor having a two-dimensional light receiving surface,
• wherein said sensor and laser emitter are arranged spatially separate from each other, wherein when the sensor and laser emitter and the position and orientation of said mechanism segment are arranged such that said radiation pattern is incident on the light receiving surface of the sensor, a projected radiation pattern is formed on said surface,
• said sensor further being embodied to monitor the position of said projected radiation pattern on the light receiving surface,
• wherein said sensor is embodied to transmit such position information to the computing unit, said computing unit being embodied to determine calibration parameters for said model of the mechanism on the basis of said position information,
• wherein the laser emitter or the sensor of the first functional operation group is arranged on the segment of the mechanism and is rigidly connected to the laser emitter or the sensor of the second functional operational group, and wherein the laser emitter or the sensor of the first and second functional operation groups not arranged on the segment are arranged fixed with respect to the base of the mechanism, wherein either lasers or sensors from two functional operations groups at the segment may be identical or alternatively lasers or sensors not arranged on the segment may be identical, giving a minimum number of all physically different lasers plus all physically different sensors of all functional operation groups which equals at least three.