METHOD FOR SETTING THE MOBILE MANIPULATOR ONTO THE WORKBENCH

摘要

The present invention relates to a method for setting a mobile manipulator onto a workbench by which the mobile manipulator is guided to be fixed to an operation position of the workbench so that robot system operation precision can be improved. The present invention includes a step in which the mobile manipulator is moved to the workbench; a step in which a plurality of first linear laser beams are emitted downward from the workbench and a second linear laser beam is emitted from the workbench toward the mobile manipulator; a step in which a first camera mounted on an upper portion of the mobile base receives the first linear laser beams and a second camera mounted on one side of the mobile manipulator receives the second linear laser beam; a step in which the pattern images of the received first linear laser beams are compared to the preset pattern images of the first linear laser beams to acquire a left-right X-axis error, a front-back Y-axis error, and a yaw error with respect to an up-down Z axis and the pattern image of the received second linear laser beam is compared to the preset pattern image of the second linear laser beam to acquire a Z-axis error, a roll error with respect to a Y-axis, and a pitch error value with respect to an X-axis; and a step in which the operation position of the mobile manipulator is corrected based on the acquired error values.