Method and device for controlling manipulators

A device for improving accuracy characteristics of multiaxial robots, the device comprising:

• at least two manipulators comprising a reference robot and a copying manipulator;
• at least one control device for moving said reference robot independently from said copying manipulator into predetermined desired poses;
• at least one external measuring system, said at least one external measuring system determining reference robot actual poses of said reference robot and manipulator actual poses of said copying manipulator, said reference robot actual poses corresponding to reference robot desired poses of said reference robot, said manipulator actual poses corresponding to copying manipulator desired poses,
• a comparator device for determining a deviation between the desired and actual poses of one or more of said reference robot and said copying manipulator;
• and
• a model forming device for determining a parameter model of at least one of said reference robot and said copying manipulator based on said deviation between said copying manipulator desired poses and said manipulator actual poses and said deviation between said reference robot desired poses and said reference robot actual poses.

A method for controlling a plurality of multiaxial robots, the method comprising:

• providing a plurality of multiaxial robots comprising a reference manipulator and a copying manipulator;
• determining a plurality of first desired poses of said reference manipulator;
• moving said reference manipulator to said plurality of first desired poses within a working area of said reference manipulator;
• determining a plurality of first actual poses of said reference manipulator via a first external measuring system when said reference manipulator is moved to said plurality of first desired poses, each of said first actual poses being associated with one of said first desired poses;
• moving said copying manipulator to a plurality of second desired poses, said second desired poses corresponding to said first desired poses, said copying manipulator moving independently from said reference manipulator;
• determining a plurality of second actual poses of said copying manipulator via a second external measuring system when said copying manipulator is moved to said plurality of second desired poses, each of said second actual poses being associated with one of said second desired poses;
• determining a reference manipulator deviation between said first desired poses and said first actual poses of said reference manipulator;
• determining a copying manipulator deviation between said second desired poses and said second actual poses of said copying manipulator;
• creating a parameter model for said copying manipulator based on said reference manipulator deviation and said copying manipulator deviation;
• compensating for deviations between said first desired poses and said first actual poses of said reference manipulator and for deviations between said second desired poses and said second actual poses of said copying manipulator by using the parameter model.