| 摘要 |
A method for producing a connection area ( 4 ) on a work piece ( 1 ), in particular on a vehicle body plate which is to be positioned precisely with respect to a reference area ( 8 ) on the work piece ( 1 ). A robot-guided processing tool ( 9 ) is used which is permanently connected to a sensor system ( 13 ) and forms a tool/sensor combination ( 16 ) with it. In a first step, the tool/sensor combination ( 16 ) is moved, within the scope of a positioning phase (II), from a proximity position ( 24 ) which is independent of the position of the work piece ( 1 ) in the working space ( 23 ) of the robot ( 11 ), into a preliminary position ( 18 ) in which the tool/sensor combination ( 16 ) is oriented precisely with respect to the reference area ( 8 ) of the work piece ( 1 ). To move to the preliminary position ( 18 ), an iterative closed-loop control process is run through, in the course of which firstly an (actual) measured value of the sensor system ( 13 ) is generated and compared with a (setpoint) measured value generated within the scope of a setup phase. A movement vector of the tool/sensor combination ( 16 ) is calculated from the difference between the (actual) measured value and (setpoint) measured value using a Jacobi matrix which is calculated within the scope of the setup phase, and the tool/sensor combination ( 16 ) is moved by an amount equal to this movement vector. To carry out this positioning task it is possible to dispense with a metric calibration of the tool/sensor combination ( 16 ).
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