| 摘要 |
A method for the mounting of an add-on part ( 3 ) on a workpiece ( 1 ), in particular on a vehicle body, the intention being for the add-on part ( 3 ) to be aligned on the workpiece ( 1 ) in a precisely positioned manner in relation to a reference region ( 12, 13 ). Use is made of a robot-guided mounting tool ( 5 ) which is connected fixedly to a sensor system ( 20 ). In order to achieve the precisely positioned alignment of the add-on part ( 3 ), an iterative control operation is run through, in the course of which first of all an (actual) measured value of the sensor system ( 20 ) is produced and is compared with a (desired) measured value produced within the context of a setting-up phase. A movement vector of the mounting tool ( 5 ) is calculated from the difference between the (actual) measured value and (desired) measured value using a Jacobi matrix calculated within the context of the setting-up phase, and the mounting tool ( 5 ) with the add-on part ( 3 ) fixed therein is iteratively displaced in relation to the workpiece ( 1 ) by these movement vectors until the desired position is reached. This positioning task can be resolved without a metric calibration of the sensor system ( 20 ). |
