Method for positioning a self-piercing-rivet setting tool using a robot

A method for robot-assisted self-piercing riveting, comprising the steps:

• commanding a robot with a robot controller to position a self-piercing-rivet setting tool into a riveting pose on at least two workpieces to be joined to one another;
• commanding the self-piercing-rivet setting tool to set a rivet to join the at least two workpieces by self-piercing riveting;
• and
• during the self-piercing riveting, commanding the robot to change the pose of the self-piercing-rivet setting tool for at least partial compensation of an elastic deformation of the self-piercing-rivet setting tool that is induced by the self-piercing riveting.

A method for positioning a self-piercing-rivet setting tool using a robot, the method comprising:

• commanding the robot with a robot controller to position the self-piercing-rivet setting tool into a riveting pose;
• commanding a self-piercing riveting movement of the self-piercing-rivet setting tool, with or without setting a rivet;
• detecting a change in the pose of a die of the self-piercing-rivet setting tool or of the test element resulting from the self-piercing riveting movement;
• and
• based on the detected pose change, at least one of:
• testing the self-piercing-rivet setting tool, or
• calibrating a deformation model of the self-piercing-rivet setting tool.

A system for robot-assisted self-piercing riveting, the system comprising:

• means for commanding a robot by to position a self-piercing-rivet setting tool into a riveting pose on at least two workpieces to be joined to one another;
• means for commanding the self-piercing-rivet setting tool to set a rivet to join the at least two workpieces by self-piercing riveting;
• and
• means for commanding the robot, during the self-piercing riveting, to change the pose of the self-piercing-rivet setting tool for at least partial compensation of an elastic deformation of the self-piercing-rivet setting tool that is induced by the self-piercing riveting.

A system for positioning a self-piercing riveting setting tool using a robot, the system comprising:

• means for commanding the robot to position the self-piercing-rivet setting tool into a riveting pose;
• means for commanding a self-piercing riveting movement of the self-piercing-rivet setting tool, with or without setting a rivet;
• means for detecting a change in the pose of a die of the self-piercing-rivet setting tool or of the test element resulting from the self-piercing riveting movement;
• and
• means for at least one of:
• testing the self-piercing-rivet setting tool based on the detected pose change, or
• calibrating a deformation model of the self-piercing-rivet setting tool.