| 摘要 |
<p>The method involves detecting positions (T-SK1, T-SK2) of a robot-firm reference (S) relative to respective calibration references (K1, K2) whose reference position (T-BK1) is independent of one kinematics (T-IB) of a six-axis articulated robot (1) of a robot system relative to bases (B) of another kinematics. The latter kinematics of the robot system is calibrated based on the detected positions of the robot-firm reference, where the two kinematics together form a total volume of a degree of freedom of the system. One of the calibration references is fixed relative to an inertial system (I). Independent claims are also included for the following: (1) a manipulator system i.e. robot system, comprising a manipulator (2) a computer program comprising a set of instructions for performing a method for compensating a kinematic deviation of a manipulator system (3) a computer program product comprising program codes for performing a method for compensating a kinematic deviation of a manipulator system.</p> |
