Method for robot-assisted measurement of measurable objects
AssigneeKUKA Roboter GmbH
InventorAlexander Verl
Life of this patent
Estimating the term…
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.
Claims15
1-9. (canceled)
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 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.
Dependencies are inferred from the claim text.