| 摘要 |
A method for measuring the position of robot-guided workpieces (5), with relation to a tool (4), fixed with relation to the plinth (2) of an industrial robot (1), by means of optical sensors (Sj), which are fixed with relation to the tool (5), whereby the position of the industrial robot (1) is described with robot position coordinates (R) and tool centre point (TCP) coordinates, comprises the following steps: fixing the TCP coordinate system relative to the position coordinates of the tool (4), whereby the position coordinates for the tool (4) form the tool centre point (TCP) for the industrial robot (1), supply of workpiece base points (By) to the sensors (Sj) and determination of the position of the workpiece (5), by transformation of the robot position coordinates (R) into the TCP coordinate system and calculation of the position from the transformed robot position coordinates (R) and the known position of the sensors (Sj) relative to each other and/or the known position of the sensors (Sj) relative to the tool centre point. |
