Method for detecting a parameter of a closure element

A method for detecting a parameter of a closure element closing an opening of a fixed component, the method comprising:

• forcing a movement upon the closure element using an articulated-arm robot, in the absence of a fixed connection between the closure element and the articulated-arm robot;
• determining a force, introduced by the articulated-arm robot upon the closure element during the movement upon the closure element, using a first sensor integrated in the articulated-arm robot;
• detecting positional changes of the closure element during the movement using a second sensor;
• measuring the force and a torque occurring during the movement between the closure element and the articulated-arm robot in real time using the first sensor;
• wherein an energy is introduced on the closure element by the articulated-arm robot,
• wherein a movement of the articulated-arm robot is interrupted when a predefined energy threshold is reached, so that the closure element has a sufficient acceleration to close the opening by itself;
• wherein a working direction of the force from the articulated-arm robot acting on the closure element is identical, regardless of the position of the closure element;
• and
• measuring a progression of an angle between the closure element and a component arranged stationary relative to the second sensor using a noncontact sensor in a form of a laser line sensor emitting a laser line, wherein a section of the laser line covers the fixed component and a remaining section of the laser line covers the closure element;
• or
• detecting positional changes of the closure element based on a taught movement path of the closure element.