Position measuring method for robot-guided workpiece using optical sensors in known positions relative to fixed tool

摘要

The method provides the position of a workpiece (5) relative to a tool (4) fixed in relation to the base (2) of the industrial robot (1) via fixed optical sensors (S1,S2,S3), the position of the robot defined by robot position coordinates (R) and tool center point coordinates, the position coordinates of the tool providing the tool center point (TCP) for the robot. The robot coordinates are converted into the tool center point coordinate system and used for calculation of the workpiece position in conjunction with the known position of the sensors relative to the tool center point. An Independent claim for a measuring device for measuring the position of a robot-guided workpiece is also included.