METHOD AND DEVICE FOR PROCESSING A MOVING PRODUCTION PART, PARTICULARLY A VEHICLE BODY

摘要

The invention relates to a method for processing a moving production part (1), particularly a vehicle body (1) being moved by a conveyor belt (10). To this end a processing tool (5) is used, which is fastened to the hand (12) of a robot (7) and which comprises a sensor system (18). This sensor system is connected in a fixed manner to the processing tool (5) and has at least one sensor (19). During procession, the processing tool (5) follows the moving production part. This following movement is based on a control process during which the processing tool (5) is periodically aligned on reference areas (9) of the moving production part (1) by using measured data of the sensor system (18). The measured data of the sensor system (18) are compared to set data that are generated within the scope of a setting-up phase (I.) of the processing tool (5). A displacement vector of the processing tool (5) is calculated based on the difference between the measured values and set data while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the processing tool (5) is displaced by this displacement vector. This process is repeated in a regulation loop.