# US 2024/0198522 A1 · Method for positioning a first component relative to a second component by a robotic arm system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0198522 A1 - Document ID: US20240198522A1 - Status: Published application - Kind: A1 - Application number: 18/538,440 - Filed: 2023-12-13 - Published: 2024-06-20 - Earliest claimed: 2022-12-15 - Assignees: Peri SE - Applicants: Peri SE - Inventors: Alexander Schmid; Wolfgang Strobel - Web page: https://patentgrep.com/patent/US20240198522A1 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 9/1697: {Vision controlled systems} - B25J 9/16: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 9/1692: {Calibration of manipulator} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 19/021: {Optical sensing devices} - G05B 2219/39117: Task distribution between involved manipulators - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A method for positioning a first component relative to a second component by a robotic arm system, comprising: providing at least a first robot arm arranged to hold and move a first component relative to a second component, wherein the robot arm is arranged to be moved coordinate-based; providing at least one laser scanning unit to detect a distance between the first component and the second component; picking up the first component by the first robot arm and moving the first component relative to the second component according to a coordinate-based calculated position; detecting a distance of the first component in its coordinate-based calculated position to the second component by the laser scanning unit; providing a position correction value based on the detected distance of the first component to the second component; moving at least one of the components to an end position based on the provided position correction value. ## Claims ### Claim 1 A method for positioning a first component relative to a second component by a robotic arm system, comprising: providing at least a first robot arm arranged to hold and move a first component relative to a second component, wherein the robot arm is further arranged to be moved coordinate-based; providing at least one laser scanning unit adapted to detect a distance between the first component and the second component; picking up the first component by the first robot arm and moving the first component relative to the second component according to a coordinate-based calculated position; detecting a distance of the first component in its coordinate-based calculated position to the second component by the laser scanning unit; providing a position correction value based on the detected distance of the first component to the second component; and moving at least one of the components to an end position based on the provided position correction value. ### Claim 2 (depends on 1) The method according to claim 1, wherein at least the second component is arranged in a holding device. ### Claim 3 (depends on 1) The method according to claim 1, wherein the robotic arm system comprises at least a second robot arm arranged to hold and move the second component. ### Claim 4 (depends on 1) The method according to claim 1, wherein the first and/or second component are each moved to an end position by the first and/or second robot arm based on the provided position correction value. ### Claim 5 (depends on 1) The method according to claim 1, wherein the robotic arm system comprises at least a third robotic arm configured to connect the first and second components in the end position. ### Claim 6 (depends on 1) The method according to claim 1, wherein the system comprises at least two laser scanning units. ### Claim 7 (depends on 6) The method according to claim 6, wherein the at least two laser scanning units are rigidly arranged relative to each other. ### Claim 8 (depends on 6) The method according to claim 6, wherein the at least two laser scanning units are arranged such that the emitted laser beams can be emitted at an angle to each other. ### Claim 9 (depends on 8) The method according to claim 8, wherein the emitted laser beams enclose an angle between 80° and 25°, preferably an angle between 60° and 35° and particularly preferably between 50° and 40°. ### Claim 10 (depends on 1) The method according to claim 1, wherein the at least two laser scanning units are arranged movably relative to each other. ### Claim 11 (depends on 6) The method according to claim 6, wherein the laser scanning unit is configured to determine two planes by scanning and to calculate their intersection lines. ### Claim 12 A robotic arm system for positioning a first component relative to a second component, comprising: at least a first robot arm configured to hold and move the first component relative to the second component, wherein the robot arm is further configured to be moved coordinate-based; at least one laser scanning unit configured to detect a distance between the first component and the second component. ### Claim 13 (depends on 1) A computer program element comprising instructions configured, when executed on computer devices of a computer environment, to execute the steps of the method according to claim 1 in a robotic arm system. ### Claim 14 (depends on 1) A use of a robotic arm and/or at least one laser scanning unit in a method according to claim 1 and/or in a robotic arm system. ### Claim 15 (depends on 1) A steel frame manufactured according to a method according to claim 1. ### Claim 16 (depends on 15) The steel frame of claim 15, wherein the steel frame is for a formwork element.