METHOD AND DEVICE FOR THE POSITIONALLY PRECISE GRASPING OF A PRODUCTION PART FROM A PRODUCTION PART SUPPORT

摘要

The invention relates to a method for delivering a production part (3) to a processing or mounting station (5) for processing and/or mounting purposes. The production part (3) is removed from a pick-up position (2) by a robot-guided production part handling unit (9), whereby the production part (3) is held in a positionally precise manner in grippers (10) of the production part handling unit (9). The production part handling unit (9) is connected to a sensor system (15) with the aid of which the production part handling unit (9), during an iterative control process, is aligned in a highly precise manner with regard to the production part (3). Over the course of this iterative control process, (actual) measured values of the sensor system (15) are generated that are compared with (set) measured values generated within the scope of a setting-up phase. A displacement vector of the production part handling unit (9) is calculated based on the difference between (actual) measured values and (set) measured values while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the production part handling unit (9) is displaced by this displacement vector. A floating or compensating mounting of the grippers (10) can be forgone due to the use of this alignment method of the production part handling unit (9) with regard to the production part (3).