Method and system for highly precisely positioning at least one object in an end position in space

摘要

The invention relates to a method and a system for highly precisely positioning at least one object in an end position in space. An object (12) is grabbed and held by the industrial robot (11) within a gripping tolerance. A compensation value that corrects the gripping tolerance is determined for the industrial robot (11). The object (12) is highly precisely moved to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device (1). Determining the present position of the object (12) in the spatial coordinate system from the position (P) of the 3-D image recording device (1) the angular orientation of the 3-D image recording device (1) detected by an angle measuring unit (4), the three-dimensional image, and the knowledge of features (13) on the object (12). Calculating the position difference between the present position of the object (12) and the end position. Calculating a new target position of the industrial robot (11) while taking into consideration the compensation value from the present position of the industrial robot (11) and a value linked to the position difference. Moving the industrial robot (11) to the new target position.