| 摘要 |
The present invention relates to an apparatus for automatically fine-tuning a robot program for carrying out a material removal process on an object (1) by means of a robot (4). The apparatus comprising a measuring system (3) configured to measure the geometry of the object, and at least one computing device (5) having program code comprising code configured to: control the robot to pick a reference object processed with a desired process result, and move the reference object into the measuring range of the measuring system, receive measurements of the geometry of processed parts of the reference object, control the robot to pick a not processed work object of the same type as the reference object, control the robot to perform the material removal process on the work object in accordance with the programmed robot path, control the robot to move the work object into the measuring range of the measuring system, receive measurements of the geometry of the work object after the removal process, calculate deviations between the geometry of the processed work object and the processed reference object, determine whether the calculated deviations are acceptable, and if the deviations are acceptable store the adjusted robot path, and if the deviations are not acceptable adjust the robot path based on the geometrical deviations and repeat the procedure for a new object. |
