Method for calibrating a light section sensor, and associated robot system

A method for calibrating a light section sensor (1) with respect to one member (2) of a robot kinematics system (4) which can be controlled by a robot control device (3) and has a plurality of members (2) and joints (5) which adjustably connect the members (2) to each other, wherein the light section sensor (1) is fastened to the one member (2), comprising the steps of:

• Providing a calibration object (8) with a first line feature (L1) and a second line feature (L2), which is different from the first line feature (L1), on a base surface (9) in a pose known to the robot control device (3),
• Recording an intersection point (11) of the first line feature (L1) and second line feature (L2) by means of a teach-in method and saving the position of the intersection point (11) in the robot coordinate system (R) in the robot control device (3),
• Automatically moving the light section sensor (1) in a first vertical position along a first section, which is parallel to the first line feature (L1), in the direction of the second line feature (L2) of the calibration object (8) until the projected line (10) hits the second line feature (L2) of the calibration object (8), and saving the current position of a predetermined reference point of the robot kinematics system (4) in the robot coordinate system (R) as a first calibration position,
• Automatically moving the light section sensor (1) along a second section, which is parallel to the first line feature (L1) and is different from the first section, in the direction of the second line feature (L2) of the calibration object (8) until the projected line (10) hits the second line feature (L2) of the calibration object (8), and saving the current position of the predetermined reference point of the robot kinematics system (4) in the robot coordinate system (R) as a second calibration position, and
• Automatically moving the light section sensor (1) in a second vertical position, which is different from the first vertical position, along a third section, which is parallel to the first line feature (L1) and is different from the first section and the second section, in the direction of the second line feature (L2) of the calibration object (8) until the projected line (10) hits the second line feature (L2) of the calibration object (8), and saving the current position of the predetermined reference point of the robot kinematics system (4) in the robot coordinate system (R) as a third calibration position.