Method for compensating for a deviation in an operating point

Abstract

The invention relates to a method for compensating for a deviation in an operating point (1) of a manipulator (2) during the processing of a workpiece (3) via an end effector (4) on the manipulator (2); wherein a command sequence is processed for controlling the manipulator (2) for the purpose of processing the workpiece (3), and a piece of setpoint position information (5) corresponding to a setpoint position (6) is generated based on the command sequence, the operating point (1) of the manipulator (2) being set based on said piece of setpoint position information (5); wherein the piece of setpoint position information (5) is processed using a compensation parameter set (7) which is related to the piece of setpoint position information (5), for ascertaining a compensation value (8), and the piece of setpoint position information (5) is adjusted according to the compensation value (8) for compensating for a deviation (9) between an actual position (10) of the operating point (1) and the setpoint position (6). The invention is characterized in that the actual position (10) is measured during the processing of the workpiece (3); in that a correction value (12) is ascertained, based on a comparison between the measured actual position (10) and the setpoint position (6); and in that the compensation parameter set (7) is adjusted during the processing of the workpiece (3) for reducing the deviation (9), based on the correction value (12).

Dependencies are inferred from the claim text.