| 摘要 |
The invention relates to a method and an arrangement for calibrating a kinematic system and to a corresponding computer program and corresponding computer-readable storage medium, which method, arrangement, computer program and storage medium can be used, in particular, to extend calibration to classes of parallel and serial robot kinematic systems which have not been constructed specially for achieving maximum accuracy levels but which preferably have a high level of reproducibility. For this reason, a method is proposed which comprises the following steps: - moving the kinematic system in such a way that the kinematic system assumes a number of positions with predefinable accuracy, - determining first configuration vectors by evaluating data describing the actuator deflections in the assumed positions, - determining a function for transforming the configuration space by evaluating the first and second configuration vectors, wherein the second configuration vectors are each mapped onto one of the positions by means of an actuation function, and - defining a calibrated actuation function on the basis of successive execution of firstly the function for transforming the configuration space and subsequently the actuation function. |
