An apparatus for compensating non-geometric error influences on an absolute accuracy of a robot using a laser sensor system, comprising:
- a control unit;
- a robot having a plurality of elasticity elements;
- at least one radiation pattern generator;
- and
- at least one sensor with at least one light-sensitive surface,
- wherein an elasticity element of the plurality of elasticity elements is a rigid body, a joint, an effector, or a robot base,
- wherein at least one radiation pattern generator is stationarily arranged in an environment of the robot within or outside of a working space, the at least one radiation pattern generator configured to emit at least one radiation pattern by the at least one radiation pattern generator through the working space of the robot, the at least one radiation pattern including at least one laser beam or at least one laser light plane,
- wherein the at least one radiation pattern comprises at least one laser beam or at least one laser light plane,
- wherein the at least one sensor with the at least one light-sensitive surface is arranged on the effector of the robot,
- wherein the control unit is configured to control the robot sequentially into a plurality of measurement configurations in which the at least one radiation pattern impinges on the at least one light-sensitive surface according to robot structure information stored electronically in the control unit, and
- wherein the sensor is further configured to detect a position of a projection of the at least one radiation pattern on the at least one light-sensitive surface and to transmit measurement information describing the position to a computation unit,
- wherein the control unit is configured to control the apparatus to:
- emit the at least one radiation pattern through the working space and select the plurality of measurement configurations in such a way that, for at least one elasticity element from the plurality of elasticity elements, there exists at least one pair of measurement configurations in which the absolute value of the difference of the torques at the at least one elasticity element is greater than a threshold value;
- determine a deviation on the light-sensitive surface of the at least one sensor from a line and/or plane, which is implicitly defined by the radiation pattern and its direction and orientation, by comparing, for the plurality of measurement configurations the position of the projection detected by the at least one sensor with a computed projection position based on the erroneous robot structure information;
- and
- generate corrected robot structure information from the deviation to compensate for the non-geometric error influences.