CALIBRATING A MODEL OF A PROCESS ROBOT AND OPERATING A PROCESS ROBOT

A method according to the invention for calibrating a model and/or operating a process robot (10) comprises the steps: - subjecting (S10, S30) a calibration robot (10) to an ambient contact force (F1) and determining a calibration deviation (Δ11) as a result of the impingement of said ambient contac...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	RÖSSIG, Rene, STIMMEL, Burkhard, TSCHARNUTER, Dietmar, HÜTTENHOFER, Manfred
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	A method according to the invention for calibrating a model and/or operating a process robot (10) comprises the steps: - subjecting (S10, S30) a calibration robot (10) to an ambient contact force (F1) and determining a calibration deviation (Δ11) as a result of the impingement of said ambient contact force; - subjecting (S20, S40) the calibration robot to at least one further ambient contact force (F2) and determining a further calibration deviation (Δ21) as a result of the impingement of this ambient contact force in at least two calibration poses of the calibration robot; and - calibrating (S50) a model of the process robot on the basis of said poses, ambient contact forces and calibration deviations; and/or the steps: - determining (S60, S70) a process contact force (F1, F2); and - reducing (S60, S70) a process deviation (Δ11, Δ21) of the process robot as a result of this process contact force on the basis of a calibrated model of the process robot, particularly a model calibrated in this manner, for at least one process pose.