Method and device for compensating a kinematic deviation

摘要

The method involves approaching different postures of a manipulator (S10). A position of a manipulator element is detected by an external 3D-position detecting device in the manipulator posture (S20). The kinematic deviation is compensated on the basis of the detected position of the manipulator element (S30). The manipulator element is a work tool of the manipulator. Independent claims are also included for: (1) a device for compensating a kinematic deviation, particularly a temperature drift of a manipulator, particularly a robot; (2) a computer program for executing a kinematic deviation compensating method; and (3) a computer program product with a program code.